DTact: 暗闇から高解像度3D形状を直接計測する視覚ベース触覚センサ
DTact: A Vision-Based Tactile Sensor that Measures High-Resolution 3D Geometry Directly from Darkness
半透明エラストマーの反射特性を利用し、触覚画像の暗部から高解像度3D形状を計測する、低コストで頑健な視覚ベース触覚センサDTactを開発した。姿勢推定や物体認識タスクで有効性を示した。
著者: Changyi Lin, Ziqi Lin, Shaoxiong Wang, Huazhe Xu
分類: cs.RO
原文アブストラクト
Vision-based tactile sensors that can measure 3D geometry of the contacting objects are crucial for robots to perform dexterous manipulation tasks. However, the existing sensors are usually complicated to fabricate and delicate to extend. In this work, we novelly take advantage of the reflection property of semitransparent elastomer to design a robust, low-cost, and easy-to-fabricate tactile sensor named DTact. DTact measures high-resolution 3D geometry accurately from the darkness shown in the captured tactile images with only a single image for calibration. In contrast to previous sensors, DTact is robust under various illumination conditions. Then, we build prototypes of DTact that have non-planar contact surfaces with minimal extra efforts and costs. Finally, we perform two intelligent robotic tasks including pose estimation and object recognition using DTact, in which DTact shows large potential in applications.
