DLO-Splatting: Tracking Deformable Linear Objects Using 3D Gaussian Splatting
Journal:
arXiv
Published Date:
May 13, 2025
Abstract
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.
