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simmediumgraspingmetric · varies
TranSplat: Surface Embedding-guided 3D Gaussian Splatting for Transparent Object Manipulation
Description
Transparent object manipulation remains a significant challenge in robotics due to the difficulty of acquiring accurate and dense depth measurements. Conventional depth sensors often fail with transparent objects, resulting in incomplete or erroneous depth data. Existing depth completion methods struggle with interframe consistency and incorrectly model transparent objects as Lambertian surfaces, leading to poor depth reconstruction. To address these challenges, we propose TranSplat, a surface e