TODE-Trans: Transparent Object Depth Estimation with Transformer

• URL: http://arxiv.org/abs/2209.08455v1
• Date: Sun, 18 Sep 2022 03:04:01 GMT
• Title: TODE-Trans: Transparent Object Depth Estimation with Transformer
• Authors: Kang Chen, Shaochen Wang, Beihao Xia, Dongxu Li, Zhen Kan, and Bin Li
• Abstract summary: We present a transformer-based transparent object depth estimation approach from a single RGB-D input. To better enhance the fine-grained features, a feature fusion module (FFM) is designed to assist coherent prediction.
• Score: 16.928131778902564
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: 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.

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