DTact: A Vision-Based Tactile Sensor that Measures High-Resolution 3D Geometry Directly from Darkness

TL;DR

DTact is a low-cost, robust vision-based tactile sensor that accurately measures high-resolution 3D geometry from darkness in a single image, facilitating advanced robotic manipulation tasks.

Contribution

This work introduces DTact, a novel tactile sensor leveraging elastomer reflection properties for easy fabrication and high-resolution 3D measurement in darkness.

Findings

DTact accurately measures 3D geometry from darkness.

DTact is robust under various lighting conditions.

DTact enables effective robotic pose estimation and object recognition.

Abstract

Vision-based tactile sensors that can measure 3D geometry of the contacting objects are crucial for robots to perform dexterous manipulation tasks. However, the existing sensors are usually complicated to fabricate and delicate to extend. In this work, we novelly take advantage of the reflection property of semitransparent elastomer to design a robust, low-cost, and easy-to-fabricate tactile sensor named DTact. DTact measures high-resolution 3D geometry accurately from the darkness shown in the captured tactile images with only a single image for calibration. In contrast to previous sensors, DTact is robust under various illumination conditions. Then, we build prototypes of DTact that have non-planar contact surfaces with minimal extra efforts and costs. Finally, we perform two intelligent robotic tasks including pose estimation and object recognition using DTact, in which DTact shows large potential in applications.