# TDCNet: Transparent Objects Depth Completion with CNN-Transformer Dual-Branch Parallel Network

arXiv: https://arxiv.org/abs/2412.14961 · HTML: https://mlsanity.com/paper/2412.14961/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 4 of its 35 references that are in the map.
- First posted on arXiv 19 Dec 2024.

## Builds on (most cited first, 4 of 4)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [CoAtNet: Marrying Convolution and Attention for All Data Sizes](https://mlsanity.com/paper/2106.04803/) (2021)
- [Evolving Attention with Residual Convolutions](https://mlsanity.com/paper/2102.12895/) (2021)

## Built on by (most cited first, 5 of 5)

- [DEPTHOR++: Robust Depth Enhancement from a Real-World Lightweight dToF and RGB Guidance](https://mlsanity.com/paper/2509.26498/) (2025)
- [HTMNet: A Hybrid Network with Transformer-Mamba Bottleneck Multimodal Fusion for Transparent and Reflective Objects Depth Completion](https://mlsanity.com/paper/2505.20904/) (2025)
- [DCIRNet: Depth Completion with Iterative Refinement for Dexterous Grasping of Transparent and Reflective Objects](https://mlsanity.com/paper/2506.09491/) (2025)
- [Rethinking Transparent Object Grasping: Depth Completion with Monocular Depth Estimation and Instance Mask](https://mlsanity.com/paper/2508.02507/) (2025)
- [GIFT: Geometry-Invariant Fine-Tuning for Non-Lambertian Monocular Depth Estimation](https://mlsanity.com/paper/2608.02068/) (2026)

## Abstract (arXiv)

The sensing and manipulation of transparent objects present a critical challenge in industrial and laboratory robotics. Conventional sensors face challenges in obtaining the full depth of transparent objects due to the refraction and reflection of light on their surfaces and their lack of visible texture. Previous research has attempted to obtain complete depth maps of transparent objects from RGB and damaged depth maps (collected by depth sensor) using deep learning models. However, existing methods fail to fully utilize the original depth map, resulting in limited accuracy for deep completion. To solve this problem, we propose TDCNet, a novel dual-branch CNN-Transformer parallel network for transparent object depth completion. The proposed framework consists of two different branches: one extracts features from partial depth maps, while the other processes RGB-D images. Experimental results demonstrate that our model achieves state-of-the-art performance across multiple public datasets. Our code and the pre-trained model are publicly available at https://github.com/XianghuiFan/TDCNet.