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Related Experiment Video

Updated: Feb 6, 2026

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A 3-D Surface Reconstruction with Shadow Processing for Optical Tactile Sensors.

Hanjun Jiang1, Yan Yan2, Xiyang Zhu3

  • 1Institute of Microelectronics, Tsinghua University, Beijing 100084, China. jianghanjun@tsinghua.edu.cn.

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Summary

This study introduces an optical tactile sensor for robotic fingers, enabling 3D surface reconstruction. The novel method accurately captures object shapes using multi-directional LED illumination and advanced image processing, including shadow compensation.

Keywords:
3-D reconstructionrobotic fingershadow detectionsurface reconstructiontactile sensor

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Area of Science:

  • Robotics
  • Computer Vision
  • Sensor Technology

Background:

  • Robotic manipulation requires detailed object surface information.
  • Existing tactile sensors often lack high-resolution 3D reconstruction capabilities.

Purpose of the Study:

  • To propose and validate an optical tactile sensor technique for robotic fingers.
  • To achieve accurate 3-dimension (3-D) surface reconstruction of objects.

Main Methods:

  • Developed an optical tactile sensor with a deformation layer, image sensor, and four LEDs.
  • Acquired four deformation images under different LED illumination directions.
  • Implemented look-up tables for mapping intensity to gradient data and compensating for image shadows.
  • Reconstructed 3-D surface depth distribution from 2-D gradient data.

Main Results:

  • A prototype tactile sensor was successfully built and tested.
  • Simulation and experimental results confirmed the effectiveness of the 3-D surface reconstruction method.
  • The method demonstrated accurate depth distribution reconstruction.

Conclusions:

  • The proposed optical tactile sensor technique effectively enables 3-D surface reconstruction for robotic applications.
  • The unique image shadow detection and compensation feature enhances reconstruction accuracy compared to existing methods.