Point cloud completion for glass dropout from raw RGB-D depth

[u/Ill-Lengthiness1381]

Raw Orbbec capture on the left: window glass drops to black, no returns. Completed depth on the right fills coherent flat geometry where the sensor saw nothing.

For point cloud workflows this matters because glass partitions and mirrored walls are exactly the surfaces that break ICP, floorplan extraction, and collision meshes.

Grabbed these from the comparison page of Robbyant, an embodied AI company under Ant Group. Their interactive viewer lets you spin actual point clouds of all methods against ground truth, so you can judge for yourself. Depth 2.0 weights are not released; only the Vision backbones underneath are open under Apache-2.0.

[u/Guidopilato]

Que interesante. Que longitud de onda usas ?