They See Me Rolling: High-Speed Event Vision-Based Tactile Roller Sensor for Large Surface Inspection
Akram Khairi, Hussain Sajwani, Abdallah Mohammad Alkilany, Laith AbuAssi, Mohamad Halwani, Islam Mohamed Zaid, Ahmed Awadalla, Dewald Swart, Abdulla Ayyad, Yahya Zweiri

TL;DR
This paper presents a high-speed, high-resolution tactile sensor using a neuromorphic camera in a rolling mechanism, enabling rapid large-area surface inspection with improved accuracy and speed over existing methods.
Contribution
Introduction of a novel neuromorphic camera-based rolling tactile sensor with a multi-view stereo approach for fast, accurate 3D surface reconstruction in industrial inspection.
Findings
Achieves scanning speeds up to 0.5 m/s, 11 times faster than previous methods.
Reduces mean absolute error below 100 microns, improving accuracy.
Demonstrates high-speed Braille reading 2.6 times faster than prior approaches.
Abstract
Inspecting large-scale industrial surfaces like aircraft fuselages for quality control requires capturing their precise 3D surface geometry at high resolution. Vision-based tactile sensors (VBTSs) offer high local resolution but require slow 'press-and-lift' measurements stitched for large areas. Approaches with sliding or roller/belt VBTS designs provide measurements continuity. However, they face significant challenges respectively: sliding struggles with friction/wear and both approaches are speed-limited by conventional camera frame rates and motion blur, making large-area scanning time consuming. Thus, a rapid, continuous, high-resolution method is needed. We introduce a novel tactile sensor integrating a neuromorphic camera in a rolling mechanism to achieve this. Leveraging its high temporal resolution and robustness to motion blur, our system uses a modified event-based…
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