动态光照+图像融合提升触觉传感器感知质量
Enhance Vision-based Tactile Sensors via Dynamic Illumination and Image Fusion
- 用多种动态光照模式采集数据并融合
- 对比度、清晰度和背景差异显著提升
- 旧设备可软件升级，新设计可充分挖掘潜力
基于视觉的触觉传感器利用结构光测量其弹性界面的形变。此前，DIGIT 和 GelSight 等传感器均采用针对特定外形定制的单一静态结构光图案。本文研究动态光照模式结合图像融合技术对视觉触觉传感器感知质量的提升效果。具体而言，通过捕获多个不同光照条件下的测量结果，并进行融合，生成单一更高质量的测量输出。实验表明，该方法显著提升了图像对比度、锐度及背景差异性。这一发现为现有传感器仅通过软件更新即可实现感知质量提升提供了可能，也为支持动态光照的新硬件设计铺平了道路。
原文摘要 · Abstract (English)
Vision-based tactile sensors use structured light to measure deformation in their elastomeric interface. Until now, vision-based tactile sensors such as DIGIT and GelSight have been using a single, static pattern of structured light tuned to the specific form factor of the sensor. In this work, we investigate the effectiveness of dynamic illumination patterns, in conjunction with image fusion techniques, to improve the quality of sensing of vision-based tactile sensors. Specifically, we propose to capture multiple measurements, each with a different illumination pattern, and then fuse them together to obtain a single, higher-quality measurement. Experimental results demonstrate that this type of dynamic illumination yields significant improvements in image contrast, sharpness, and background difference. This discovery opens the possibility of retroactively improving the sensing quality of existing vision-based tactile sensors with a simple software update, and for new hardware designs capable of fully exploiting dynamic illumination.
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