GelSight Wedge：コンパクトなロボット指で高解像度3D接触形状を計測する触覚センサ
GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger
光学・機械的制約を両立しつつ指先サイズに収めた視覚ベース触覚センサを提案し、照明構成を工夫して高解像度な3D接触形状復元と3D空間での姿勢追跡を実現した。
著者: Shaoxiong Wang, Yu She, Branden Romero, Edward Adelson
分類: cs.RO, cs.CV
原文アブストラクト
Vision-based tactile sensors have the potential to provide important contact geometry to localize the objective with visual occlusion. However, it is challenging to measure high-resolution 3D contact geometry for a compact robot finger, to simultaneously meet optical and mechanical constraints. In this work, we present the GelSight Wedge sensor, which is optimized to have a compact shape for robot fingers, while achieving high-resolution 3D reconstruction. We evaluate the 3D reconstruction under different lighting configurations, and extend the method from 3 lights to 1 or 2 lights. We demonstrate the flexibility of the design by shrinking the sensor to the size of a human finger for fine manipulation tasks. We also show the effectiveness and potential of the reconstructed 3D geometry for pose tracking in the 3D space.
