GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger
Shaoxiong Wang Yu She Branden Romero Edward Adelson Shaoxiong Wang Yu She Branden Romero Edward Adelson
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...