用最少接触实现物体无先验3D形状重建，提升机器人抓取精度。
Proactive tactile exploration for object-agnostic shape reconstruction from minimal visual priors
- 基于单一原始模板迭代拟合表面点云并修正局部形变。
- 通过主动触觉探索减少接触次数，同时降低接触失败风险。
- 适用于缺乏视觉先验的复杂物体重建，适合机器人操作场景。
物体表面感知对机器人执行稳健操作至关重要，其表征精度直接影响动作规划效果，尤其在需要物理接触的任务中（如抓取）。本文提出一种新型迭代3D形状重建方法，包含两个步骤：首先基于单个基本模板将网格拟合到物体表面数据点；随后调整网格以准确表示局部形变。此外，提出一种新的主动触觉探索策略，旨在以最少接触次数最小化总不确定性，同时降低因估计表面与真实表面差异过大导致的接触失败风险。该方法在3D仿真环境和真实实验平台上均进行了评估。
原文摘要 · Abstract (English)
The perception of an object's surface is important for robotic applications enabling robust object manipulation. The level of accuracy in such a representation affects the outcome of the action planning, especially during tasks that require physical contact, e.g. grasping. In this paper, we propose a novel iterative method for 3D shape reconstruction consisting of two steps. At first, a mesh is fitted on data points acquired from the object's surface, based on a single primitive template. Subsequently, the mesh is properly adjusted to adequately represent local deformities. Moreover, a novel proactive tactile exploration strategy aims at minimizing the total uncertainty with the least number of contacts, while reducing the risk of contact failure in case the estimated surface differs significantly from the real one. The performance of the methodology is evaluated both in 3D simulation and on a real setup.
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