ClearDepth: Enhanced Stereo Perception of Transparent Objects for Robotic Manipulation

ArXi:2409.08926v3 Announce Type: replace-cross Transparent object depth perception poses a challenge in everyday life and logistics, primarily due to the inability of standard 3D sensors to accurately capture depth on transparent or reflective surfaces. This limitation significantly affects depth map and point cloud-reliant applications, especially in robotic manipulation. We developed a vision transformer-based algorithm for stereo depth recovery of transparent objects.