3D reconstruction of reflective surface on reflection type tactile sensor using constraints of geometrical optics

Ryosuke Taira, Satoshi Saga, Takayuki Okatani, Koichiro Deguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

We aim at employing a reflection type tactile sensor as sensors of robot fingers. The sensor measures deformation of its contact surface by capturing reflection images and solving an inverse problem. In order to solve it, we formulate a new method of shape reconstruction expanding to three dimensional surface deformation. We evaluated our proposed method by reconstructing the deformed surface from reflection images produced by simulation. The result shows that our proposed method correctly estimates locations where deformation occurs, and about magnitude of deformation, some errors occur.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Pages3144-3149
Number of pages6
ISBN (Print)9784907764364
Publication statusPublished - 2010 Jan 1

Publication series

NameProceedings of the SICE Annual Conference

Keywords

  • Shape reconstruction
  • Tactile sensor
  • Total internal reflection

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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