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2024 (engelsk)Inngår i: Proceedings of the 8th Conference on Robot Learning, CoRL 2024, ML Research Press , 2024, s. 2845-2865Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]
We introduce Cloth-Splatting, a method for estimating 3D states of cloth from RGB images through a prediction-update framework. Cloth-Splatting leverages an action-conditioned dynamics model for predicting future states and uses 3D Gaussian Splatting to update the predicted states. Our key insight is that coupling a 3D mesh-based representation with Gaussian Splatting allows us to define a differentiable map between the cloth's state space and the image space. This enables the use of gradient-based optimization techniques to refine inaccurate state estimates using only RGB supervision. Our experiments demonstrate that Cloth-Splatting not only improves state estimation accuracy over current baselines but also reduces convergence time by ∼85 %.
sted, utgiver, år, opplag, sider
ML Research Press, 2024
Emneord
3D State Estimation, Gaussian Splatting, Vision-based Tracking, Deformable Objects
HSV kategori
Identifikatorer
urn:nbn:se:kth:diva-357192 (URN)2-s2.0-86000735293 (Scopus ID)
Konferanse
8th Annual Conference on Robot Learning, November 6-9, 2024, Munich, Germany
Merknad
QC 20250328
2024-12-042024-12-042025-03-28bibliografisk kontrollert