TY - GEN
T1 - 3D reconstruction of reflective surface on reflection type tactile sensor using constraints of geometrical optics
AU - Taira, Ryosuke
AU - Saga, Satoshi
AU - Okatani, Takayuki
AU - Deguchi, Koichiro
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
KW - Shape reconstruction
KW - Tactile sensor
KW - Total internal reflection
UR - http://www.scopus.com/inward/record.url?scp=78649287561&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78649287561&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:78649287561
SN - 9784907764364
T3 - Proceedings of the SICE Annual Conference
SP - 3144
EP - 3149
BT - Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PB - Society of Instrument and Control Engineers (SICE)
ER -