TODE-Trans: Transformerによる透明物体の深度推定
TODE-Trans: Transparent Object Depth Estimation with Transformer
単一のRGB-D入力からTransformerを用いて透明物体の深度を推定する手法を提案し、特徴融合モジュールで細部を補強して従来手法を大きく上回る精度を達成した。
著者: Kang Chen, Shaochen Wang, Beihao Xia, Dongxu Li, Zhen Kan, Bin Li
分類: cs.CV, cs.RO
原文アブストラクト
Transparent objects are widely used in industrial automation and daily life. However, robust visual recognition and perception of transparent objects have always been a major challenge. Currently, most commercial-grade depth cameras are still not good at sensing the surfaces of transparent objects due to the refraction and reflection of light. In this work, we present a transformer-based transparent object depth estimation approach from a single RGB-D input. We observe that the global characteristics of the transformer make it easier to extract contextual information to perform depth estimation of transparent areas. In addition, to better enhance the fine-grained features, a feature fusion module (FFM) is designed to assist coherent prediction. Our empirical evidence demonstrates that our model delivers significant improvements in recent popular datasets, e.g., 25% gain on RMSE and 21% gain on REL compared to previous state-of-the-art convolutional-based counterparts in ClearGrasp dataset. Extensive results show that our transformer-based model enables better aggregation of the object's RGB and inaccurate depth information to obtain a better depth representation. Our code and the pre-trained model will be available at https://github.com/yuchendoudou/TODE.
