新型视觉触觉传感器可连续高精度扫描大表面。
GelBelt: A Vision-based Tactile Sensor for Continuous Sensing of Large Surfaces
- 用弹性皮带和轮子实现连续表面扫描。
- 最高45 mm/s速度下仍保持高精度，表面法向一致性达0.98以上。
- 适合工业质检与大尺度表面重建场景。
在表面重建、工业质量控制与维护中，对大面积表面进行扫描的需求广泛存在。传统基于视觉的触觉传感器虽在高分辨率形状重建方面表现良好，但受限于传感面积小或滑动时易损坏，难以用于大表面的连续感知。为此，本文提出一种新型视觉触觉传感器，采用弹性皮带与双轮结构，实现对目标表面的持续扫描。实验表明，该传感器在形状重建与表面融合方面表现优异。通过计算估计表面法向图与参考图的点积，在不同扫描速度下评估性能。结果表明，该传感器可在高达45 mm/s的速度下快速、高精度地扫描大尺度表面，具备实际应用潜力。
原文摘要 · Abstract (English)
Scanning large-scale surfaces is widely demanded in surface reconstruction applications and detecting defects in industries' quality control and maintenance stages. Traditional vision-based tactile sensors have shown promising performance in high-resolution shape reconstruction while suffering limitations such as small sensing areas or susceptibility to damage when slid across surfaces, making them unsuitable for continuous sensing on large surfaces. To address these shortcomings, we introduce a novel vision-based tactile sensor designed for continuous surface sensing applications. Our design uses an elastomeric belt and two wheels to continuously scan the target surface. The proposed sensor showed promising results in both shape reconstruction and surface fusion, indicating its applicability. The dot product of the estimated and reference surface normal map is reported over the sensing area and for different scanning speeds. Results indicate that the proposed sensor can rapidly scan large-scale surfaces with high accuracy at speeds up to 45 mm/s.
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