# Depth Restoration of Hand-Held Transparent Objects for Human-to-Robot Handover

arXiv: https://arxiv.org/abs/2408.14997 · HTML: https://mlsanity.com/paper/2408.14997/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 24 of its 32 references that are in the map.
- First posted on arXiv 27 Aug 2024.

## Builds on (most cited first, 24 of 24)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [MediaPipe: A Framework for Building Perception Pipelines](https://mlsanity.com/paper/1906.08172/) (2019)
- [PCN: Point Completion Network](https://mlsanity.com/paper/1808.00671/) (2018)
- [6-DOF GraspNet: Variational Grasp Generation for Object Manipulation](https://mlsanity.com/paper/1905.10520/) (2019)
- [AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domains](https://mlsanity.com/paper/2212.08333/) (2022)
- [ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrations](https://mlsanity.com/paper/2107.14483/) (2021)
- [ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulation](https://mlsanity.com/paper/1910.02550/) (2019)
- [Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects](https://mlsanity.com/paper/2110.14217/) (2021)
- [3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations](https://mlsanity.com/paper/2403.03954/) (2024)
- [GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF](https://mlsanity.com/paper/2210.06575/) (2022)
- [RGB-D Local Implicit Function for Depth Completion of Transparent Objects](https://mlsanity.com/paper/2104.00622/) (2021)
- [TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and a Grasping Baseline](https://mlsanity.com/paper/2202.08471/) (2022)
- [Domain Randomization-Enhanced Depth Simulation and Restoration for Perceiving and Grasping Specular and Transparent Objects](https://mlsanity.com/paper/2208.03792/) (2022)
- [Learning Human-to-Robot Handovers from Point Clouds](https://mlsanity.com/paper/2303.17592/) (2023)
- [Robotic Perception of Transparent Objects: A Review](https://mlsanity.com/paper/2304.00157/) (2023)
- [Reactive Human-to-Robot Handovers of Arbitrary Objects](https://mlsanity.com/paper/2011.08961/) (2020)
- [AWR: Adaptive Weighting Regression for 3D Hand Pose Estimation](https://mlsanity.com/paper/2007.09590/) (2020)
- [TODE-Trans: Transparent Object Depth Estimation with Transformer](https://mlsanity.com/paper/2209.08455/) (2022)
- [A mixed-reality dataset for category-level 6D pose and size estimation of hand-occluded containers](https://mlsanity.com/paper/2211.10470/) (2022)

## Built on by (most cited first, 1 of 1)

- [Stereo Hand-Object Reconstruction for Human-to-Robot Handover](https://mlsanity.com/paper/2412.07487/) (2024)

## Abstract (arXiv)

Transparent objects are common in daily life, while their optical properties pose challenges for RGB-D cameras to capture accurate depth information. This issue is further amplified when these objects are hand-held, as hand occlusions further complicate depth estimation. For assistant robots, however, accurately perceiving hand-held transparent objects is critical to effective human-robot interaction. This paper presents a Hand-Aware Depth Restoration (HADR) method based on creating an implicit neural representation function from a single RGB-D image. The proposed method utilizes hand posture as an important guidance to leverage semantic and geometric information of hand-object interaction. To train and evaluate the proposed method, we create a high-fidelity synthetic dataset named TransHand-14K with a real-to-sim data generation scheme. Experiments show that our method has better performance and generalization ability compared with existing methods. We further develop a real-world human-to-robot handover system based on HADR, demonstrating its potential in human-robot interaction applications.