Learning Depth Completion of Transparent Objects using Augmented Unpaired Data

Abstract

We propose a technique for depth completion of transparent objects using augmented data captured directly from real environments with complicated geometry. Using cyclic adversarial learning we train translators to convert between painted versions of the objects and their real transparent counterpart. The translators are trained on unpaired data, hence datasets can be created rapidly and without any manual labeling. Our technique does not make any assumptions about the geometry of the environment, unlike SOTA systems that assume easily observable occlusion and contact edges, such as ClearGrasp. We show how our technique outperforms ClearGrasp in a dishwasher environment, in which occlusion and contact edges are difficult to observe. We also show how the technique can be used to create an object manipulation application with a humanoid robot. Supplementary URI: https://ftorise.github.io/faking_depth_web/.