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2024 (English)In: Proceedings of the 8th Conference on Robot Learning, CoRL 2024, ML Research Press , 2024, p. 2845-2865Conference paper, Published paper (Refereed)
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 %.
Place, publisher, year, edition, pages
ML Research Press, 2024
Keywords
3D State Estimation, Gaussian Splatting, Vision-based Tracking, Deformable Objects
National Category
Computer graphics and computer vision
Identifiers
urn:nbn:se:kth:diva-357192 (URN)2-s2.0-86000735293 (Scopus ID)
Conference
8th Annual Conference on Robot Learning, November 6-9, 2024, Munich, Germany
Note
QC 20250328
2024-12-042024-12-042025-03-28Bibliographically approved