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High-Precision 3D Reconstruction Study with Emphasis on Refractive Calibration of GelStereo-Type Sensors
Chaofan Zhang1,2, Shaowei Cui1, Shuo Wang1,2,3
1State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China.
Sensors (Basel, Switzerland)
|March 11, 2023
Summary
This study introduces a universal Refractive Stereo Ray Tracing (RSRT) model for GelStereo sensing, enabling precise 3D reconstruction of contact shapes. Calibration experiments achieved less than 0.35 mm error, advancing visuotactile sensing for robotic applications.
Area of Science:
- Robotics
- Computer Vision
- Sensors
Background:
- GelStereo sensing offers 3D contact shape measurement for visuotactile applications.
- Multi-medium ray refraction complicates accurate 3D reconstruction in GelStereo systems.
Purpose of the Study:
- To develop a universal model for accurate 3D reconstruction in GelStereo sensing systems.
- To present a calibration method for optimizing GelStereo sensing parameters.
Main Methods:
- Proposed a universal Refractive Stereo Ray Tracing (RSRT) model.
- Developed a relative geometry-based optimization for parameter calibration (refractive indices, structural dimensions).
- Conducted quantitative calibration experiments on four GelStereo platforms.
Main Results:
- The RSRT model enables 3D reconstruction of contact surfaces.
- The calibration pipeline achieved Euclidean distance errors under 0.35 mm.
- Demonstrated the effectiveness across diverse GelStereo sensing platforms.
Conclusions:
- The proposed refractive calibration method enhances accuracy in GelStereo sensing.
- This technique is applicable to complex GelStereo and visuotactile systems.
- High-precision visuotactile sensors can advance robotic dexterous manipulation research.
