Vision-based tactile sensors have the potential to provide important contact
geometry to localize the objective with visual occlusion. However, it is
challenging to measure high-resolution 3D contact geometry for a compact robot
finger, to simultaneously meet optical and mechanical constraints. In this
work, we present the GelSight Wedge sensor, which is optimized to have a
compact shape for robot fingers, while achieving high-resolution 3D
reconstruction. We evaluate the 3D reconstruction under different lighting
configurations, and extend the method from 3 lights to 1 or 2 lights. We
demonstrate the flexibility of the design by shrinking the sensor to the size
of a human finger for fine manipulation tasks. We also show the effectiveness
and potential of the reconstructed 3D geometry for pose tracking in the 3D
space.

本文介绍了一种经过优化的 GelSight 楔形传感器，其具有紧凑的形状用于机器人手指，并同时满足光学和机械约束，可高精度重建 3D 接触几何。作者在不同光照条件下评估了该传感器的 3D 重建，最终将传感器缩小到人手指的尺寸，演示了 3D 几何重建的效果和潜力，同时证明了该传感器对于 3D 空间中的姿态跟踪以及微小操纵的适用性。