D$^3$RoMa: Disparity Diffusion-based Depth Sensing for Material-Agnostic Robotic Manipulation

Songlin Wei; Haoran Geng; Jiayi Chen; Congyue Deng; Cui Wenbo; Chengyang Zhao; Xiaomeng Fang; Leonidas Guibas; He Wang

2024 CoRL CoRL 2024

D$^3$RoMa: Disparity Diffusion-based Depth Sensing for Material-Agnostic Robotic Manipulation

Abstract

No abstract available. No abstract was captured for this paper when its proceedings were scraped - most often an older edition published without one online. How the corpus is built.

🌉 Interdisciplinary Bridge - Computer Vision and Robotics

Authors

Songlin Wei, Haoran Geng, Jiayi Chen, Congyue Deng, Cui Wenbo, Chengyang Zhao, Xiaomeng Fang, Leonidas Guibas, He Wang

Topics

Computer Vision > Analysis > Depth Estimation Robotics > Capabilities > Manipulation Robotics > Capabilities > Perception

Keywords

diffusion model denoising diffusion probabilistic model disparity map transparent object specular surface left-right consistency constraint

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