Haofeng Wei, Yuwei Cao, Bo Tao, Chao Lu, Weidong Lv, and Jianqiao Xu
Photometric stereo, 3D reconstruction, visual-tactile sensing, manipulator
During the process of 3D reconstruction using visual-tactile sensors, the classical photometric stereo method has some limitations. Firstly, it assumes that the surface of the object being measured is Lambertian. Secondly, the choice of integration paths can affect the computational accuracy, thereby impacting the accuracy of 3D reconstruction. Therefore, an improved photometric stereo method based on the lookup table approach is proposed. To validate this method, a mechanical hand model built using the open-hand project from Yale University is employed, and 3D reconstruction experiments are conducted. The experimental results demonstrate that the proposed method can accurately reconstruct the depth map of the contact surface.
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