论文标题
使用基于物理的渲染模拟基于视觉的触觉传感器
Simulation of Vision-based Tactile Sensors using Physics based Rendering
论文作者
论文摘要
触觉传感随着基于视觉的触觉传感器的出现而迅速采用。基于视觉的触觉传感器可提供高分辨率，紧凑和廉价的数据，以执行精确的手持操作和人类机器人相互作用。但是，触觉传感器的模拟仍然是一个挑战。在本文中，我们使用基于物理学的渲染技术构建了第一个完全通用的光学式仿真系统，用于Gelsight传感器。我们提出了物理准确的光模型，并显示了对模拟管道各个组件的深入分析。我们的系统在定性上优于先前的仿真技术，并且在图像相似性指标上进行了定量。我们的代码和实验数据在https://labs.ri.cmu.edu/robotouch/tactile-optical-simulation/
Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot interaction. However, the simulation of tactile sensors is still a challenge. In this paper, we built the first fully general optical tactile simulation system for a GelSight sensor using physics-based rendering techniques. We propose physically accurate light models and show in-depth analysis of individual components of our simulation pipeline. Our system outperforms previous simulation techniques qualitatively and quantitative on image similarity metrics. Our code and experimental data is open-sourced at https://labs.ri.cmu.edu/robotouch/tactile-optical-simulation/
