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arxiv 2505.08644 v2 pith:KPY7WGVQ submitted 2025-05-13 cs.CV cs.RO

DLO-Splatting: Tracking Deformable Linear Objects Using 3D Gaussian Splatting

classification cs.CV cs.RO
keywords dlo-splattingshapealgorithmdeformablegaussianlinearobjectsalign
verification ladder T0 review T1 audit T2 compute T3 formal T4 reserved
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This work presents DLO-Splatting, an algorithm for estimating the 3D shape of Deformable Linear Objects (DLOs) from multi-view RGB images and gripper state information through prediction-update filtering. The DLO-Splatting algorithm uses a position-based dynamics model with shape smoothness and rigidity dampening corrections to predict the object shape. Optimization with a 3D Gaussian Splatting-based rendering loss iteratively renders and refines the prediction to align it with the visual observations in the update step. Initial experiments demonstrate promising results in a knot tying scenario, which is challenging for existing vision-only methods.

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Cited by 1 Pith paper

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  1. RoboHitch: Learning Visual Affordance from Disordered Keypoints for Hitch Knots Tying

    cs.RO 2026-05 unverdicted novelty 5.0

    A learning framework that predicts pick-and-place affordances for hitch knots from unordered keypoints and images via graph and convolutional autoencoders fused by cross-attention.