用彩虹光模式让弯曲触觉传感器轻松实现高精度形变重建。
RainbowSight: A Family of Generalizable, Curved, Camera-Based Tactile Sensors For Shape Reconstruction
- 用可编程的RGB灯以彩虹光谱照明，适配曲面结构。
- 无需复杂调校即可实现高分辨率深度图，支持多种尺寸形状。
- 易定制、易制造，降低机器人触觉集成门槛。
基于摄像头的触觉传感器能为机器人操作提供高分辨率的位置与局部几何信息。虽然弯曲或圆润的指状结构更具优势，但在曲面几何中设计有效的照明系统仍具挑战。为此，我们提出RainbowSight，一类采用可编程RGB LED以新型彩虹光谱模式照明的曲面、紧凑型摄像头触觉传感器。该传感器可灵活适配不同尺寸与形状，适用于多种末端执行器配置，易于制造且仅需极少光学调校即可实现对软弹性体表面变形物体的高分辨率深度重建。此外，相比以往相机触觉传感器常用的照明方式，我们的新硬件设计与校准方法显著提升了深度图生成的准确性。通过这些改进，我们使触觉传感器的集成更便于机器人研究者根据自身系统需求进行快速定制、制作与标定。
原文摘要 · Abstract (English)
Camera-based tactile sensors can provide high resolution positional and local geometry information for robotic manipulation. Curved and rounded fingers are often advantageous, but it can be difficult to derive illumination systems that work well within curved geometries. To address this issue, we introduce RainbowSight, a family of curved, compact, camera-based tactile sensors which use addressable RGB LEDs illuminated in a novel rainbow spectrum pattern. In addition to being able to scale the illumination scheme to different sensor sizes and shapes to fit on a variety of end effector configurations, the sensors can be easily manufactured and require minimal optical tuning to obtain high resolution depth reconstructions of an object deforming the sensor's soft elastomer surface. Additionally, we show the advantages of our new hardware design and improvements in calibration methods for accurate depth map generation when compared to alternative lighting methods commonly implemented in previous camera-based tactile sensors. With these advancements, we make the integration of tactile sensors more accessible to roboticists by allowing them the flexibility to easily customize, fabricate, and calibrate camera-based tactile sensors to best fit the needs of their robotic systems.
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