SymmeTac: Symmetric Color LED Driven Efficient Photometric Stereo Reconstruction Methods for Camera-based Tactile Sensors
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arXiv
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| Auteurs principaux: | , , , , , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866912113156423680 |
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| author | Ren, Jieji Guo, Heng Yang, Zaiyan Zhang, Jinnuo Dong, Yueshi Zhang, Ningbin Shi, Boxin Zou, Jiang Gu, Guoying |
| author_facet | Ren, Jieji Guo, Heng Yang, Zaiyan Zhang, Jinnuo Dong, Yueshi Zhang, Ningbin Shi, Boxin Zou, Jiang Gu, Guoying |
| contents | Camera-based tactile sensors can provide high-density surface geometry and force information for robots in the interaction process with the target. However, most existing methods cannot achieve accurate reconstruction with high efficiency, impeding the applications in robots. To address these problems, we propose an efficient two-shot photometric stereo method based on symmetric color LED distribution. Specifically, based on the sensing response curve of CMOS channels, we design orthogonal red and blue LEDs as illumination to acquire four observation maps using channel-splitting in a two-shot manner. Subsequently, we develop a two-shot photometric stereo theory, which can estimate accurate surface normal and greatly reduce the computing overhead in magnitude. Finally, leveraging the characteristics of the camera-based tactile sensor, we optimize the algorithm to be a highly efficient, pure addition operation. Simulation and real-world experiments demonstrate the advantages of our approach. Further details are available on: https://github.com/Tacxels/SymmeTac. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_06377 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | SymmeTac: Symmetric Color LED Driven Efficient Photometric Stereo Reconstruction Methods for Camera-based Tactile Sensors Ren, Jieji Guo, Heng Yang, Zaiyan Zhang, Jinnuo Dong, Yueshi Zhang, Ningbin Shi, Boxin Zou, Jiang Gu, Guoying Robotics Camera-based tactile sensors can provide high-density surface geometry and force information for robots in the interaction process with the target. However, most existing methods cannot achieve accurate reconstruction with high efficiency, impeding the applications in robots. To address these problems, we propose an efficient two-shot photometric stereo method based on symmetric color LED distribution. Specifically, based on the sensing response curve of CMOS channels, we design orthogonal red and blue LEDs as illumination to acquire four observation maps using channel-splitting in a two-shot manner. Subsequently, we develop a two-shot photometric stereo theory, which can estimate accurate surface normal and greatly reduce the computing overhead in magnitude. Finally, leveraging the characteristics of the camera-based tactile sensor, we optimize the algorithm to be a highly efficient, pure addition operation. Simulation and real-world experiments demonstrate the advantages of our approach. Further details are available on: https://github.com/Tacxels/SymmeTac. |
| title | SymmeTac: Symmetric Color LED Driven Efficient Photometric Stereo Reconstruction Methods for Camera-based Tactile Sensors |
| topic | Robotics |
| url | https://arxiv.org/abs/2411.06377 |