用事件相机实现高速滚动触觉扫描，精度达100微米以内。
They See Me Rolling: High-Speed Event Vision-Based Tactile Roller Sensor for Large Surface Inspection
- 融合事件相机与滚轮结构，实现高帧率连续三维重建。
- 扫描速度达0.5米/秒，误差低于100微米，比以往快11倍。
- 适用于航空等大型表面的快速高精度质检，适合工业部署。
检测飞机机身等大型工业表面的品质需在高分辨率下捕捉其精确三维几何形状。基于视觉的触觉传感器（VBTS）虽具高局部分辨率，但需缓慢的‘按压-抬升’测量并拼接大区域，效率低。滑动或滚轮式设计虽能实现连续测量，却受限于传统相机帧率和运动模糊，难以提速。为此，本文提出一种新型触觉传感器，将神经形态相机集成于滚轮结构中，利用其高时间分辨率和抗运动模糊特性，采用改进的事件基础多视角立体方法进行三维重建。系统实现最高0.5米/秒的扫描速度，平均绝对误差低于100微米，较先前连续触觉传感方法快11倍。通过多参考贝叶斯融合策略，误差降低25.2%（相较EMVS），有效缓解曲率误差。此外，实验证明其在高速识别特征方面表现优异，如盲文识别速度提升2.6倍。
原文摘要 · Abstract (English)
Inspecting large-scale industrial surfaces like aircraft fuselages for quality control requires capturing their precise 3D surface geometry at high resolution. Vision-based tactile sensors (VBTSs) offer high local resolution but require slow 'press-and-lift' measurements stitched for large areas. Approaches with sliding or roller/belt VBTS designs provide measurements continuity. However, they face significant challenges respectively: sliding struggles with friction/wear and both approaches are speed-limited by conventional camera frame rates and motion blur, making large-area scanning time consuming. Thus, a rapid, continuous, high-resolution method is needed. We introduce a novel tactile sensor integrating a neuromorphic camera in a rolling mechanism to achieve this. Leveraging its high temporal resolution and robustness to motion blur, our system uses a modified event-based multi-view stereo approach for 3D reconstruction. We demonstrate state-of-the-art scanning speeds up to 0.5 m/s, achieving Mean Absolute Error below 100 microns -- 11 times faster than prior continuous tactile sensing methods. A multi-reference Bayesian fusion strategy enhances accuracy (reducing MAE by 25.2\% compared to EMVS) and mitigates curvature errors. We also validate high-speed feature recognition via Braille reading 2.6 times faster than previous approaches.
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