mlsanityData to 7 Oct 2026

DLO-Splatting: Tracking Deformable Linear Objects Using 3D Gaussian Splatting

arXiv 2505.08644 ↗First posted 13 May 2025cs.CV cs.ROcited by 0

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Abstract (arXiv)

This work presents DLO-Splatting, an algorithm for estimating the 3D shape of Deformable Linear Objects (DLOs) from multi-view RGB images and gripper state information through prediction-update filtering. The DLO-Splatting algorithm uses a position-based dynamics model with shape smoothness and rigidity dampening corrections to predict the object shape. Optimization with a 3D Gaussian Splatting-based rendering loss iteratively renders and refines the prediction to align it with the visual observations in the update step. Initial experiments demonstrate promising results in a knot tying scenario, which is challenging for existing vision-only methods.

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 29 of its 61 references that are in the map. First posted on arXiv 13 May 2025.

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29 of 61 references.

References · 29

  1. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,141
  2. 2020RAFT: Recurrent All-Pairs Field Transforms for Optical Flowcited by 2,385
  3. 2020D-NeRF: Neural Radiance Fields for Dynamic Scenescited by 1,459
  4. 2020Nerfies: Deformable Neural Radiance Fieldscited by 1,194
  5. 20234D Gaussian Splatting for Real-Time Dynamic Scene Renderingcited by 1,144
  6. 2020Neural Scene Flow Fields for Space-Time View Synthesis of Dynamic Scenescited by 750
  7. 2023Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesiscited by 731
  8. 2023CoTracker: It is Better to Track Togethercited by 516
  9. 2024gsplat: An Open-Source Library for Gaussian Splattingcited by 279
  10. 2022TAP-Vid: A Benchmark for Tracking Any Point in a Videocited by 258
  11. 2022DynIBaR: Neural Dynamic Image-Based Renderingcited by 224
  12. 2022Monocular Dynamic View Synthesis: A Reality Checkcited by 199
17 more
  1. 2023Tracking Everything Everywhere All at Oncecited by 190
  2. 2023VideoFlow: Exploiting Temporal Cues for Multi-frame Optical Flow Estimationcited by 82
  3. 2019DensePhysNet: Learning Dense Physical Object Representations via Multi-step Dynamic Interactionscited by 61
  4. 2023DeformGS: Scene Flow in Highly Deformable Scenes for Deformable Object Manipulationcited by 42
  5. 2024Dynamic 3D Gaussian Tracking for Graph-Based Neural Dynamics Modelingcited by 42
  6. 2021Occlusion-robust Deformable Object Tracking without Physics Simulationcited by 15
  7. 2023FlowIBR: Leveraging Pre-Training for Efficient Neural Image-Based Rendering of Dynamic Scenescited by 14
  8. 2020Tracking Partially-Occluded Deformable Objects while Enforcing Geometric Constraintscited by 12
  9. 2023Simultaneous Learning of Contact and Continuous Dynamicscited by 8
  10. 2021Deformable Linear Object Prediction Using Locally Linear Latent Dynamicscited by 7
  11. 2021Disentangling Dense Multi-Cable Knotscited by 7
  12. 2025Cloth-Splatting: 3D Cloth State Estimation from RGB Supervisioncited by 7
  13. 2020Learning Topological Motion Primitives for Knot Planningcited by 6
  14. 2024TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approachcited by 5
  15. 2021Shape Control of Deformable Linear Objects with Offline and Online Learning of Local Linear Deformation Modelscited by 4
  16. 2022Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulationcited by 3
  17. 2023MultiDLO: Simultaneous Shape Tracking of Multiple Deformable Linear Objects with Global-Local Topology Preservationcited by 3

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