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Combining 3D vision with tactile sensing could unlock a greater level of dexterity for robots and improve several manipulation tasks. However, obtaining a close-up 3D view of the location where manipulation contacts occur can be…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
Multi-spectral sensors consisting of a standard (visible-light) camera and a long-wave infrared camera can simultaneously provide both visible and thermal images. Since thermal images are independent from environmental illumination, they…
Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…
Color photometric stereo enables single-shot surface reconstruction, extending conventional photometric stereo that requires multiple images of a static scene under varying illumination to dynamic scenarios. However, most existing…
Event-based cameras are bio-inspired vision sensors whose pixels work independently from each other and respond asynchronously to brightness changes, with microsecond resolution. Their advantages make it possible to tackle challenging…
Optical tactile sensors have recently become popular. They provide high spatial resolution, but struggle to offer fine temporal resolutions. To overcome this shortcoming, we study the idea of replacing the RGB camera with an event-based…
Photometric stereo is a technique for estimating surface normals using images captured under varying illumination. However, conventional frame-based photometric stereo methods are limited in real-world applications due to their reliance on…
This paper introduces a novel method to simultaneously super-resolve and colour-predict images acquired by snapshot mosaic sensors. These sensors allow for spectral images to be acquired using low-power, small form factor, solid-state CMOS…
Camera-based tactile sensors can provide high resolution positional and local geometry information for robotic manipulation. Curved and rounded fingers are often advantageous, but it can be difficult to derive illumination systems that work…
Event cameras are bio-inspired sensors that offer several advantages, such as low latency, high-speed and high dynamic range, to tackle challenging scenarios in computer vision. This paper presents a solution to the problem of 3D…
Photometric Stereo methods seek to reconstruct the 3d shape of an object from motionless images obtained with varying illumination. Most existing methods solve a restricted problem where the physical reflectance model, such as Lambertian…
Vision-Based Tactile Sensors (VBTSs) stand out for their superior performance due to their high-information content output. Recently, marker-based VBTSs have been shown to give accurate geometry reconstruction when using stereo cameras.…
Extracting colorimetric image information from the spectral characteristics of image sensors is a key issue in accurate image acquisition. Technically feasible filter/sensor combinations usually do not replicate colorimetric responses with…
Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…
Tactile sensing is critical for robotic grasping and manipulation of objects under visual occlusion. However, in contrast to simulations of robot arms and cameras, current simulations of tactile sensors have limited accuracy, speed, and…
Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional tactile…
In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive,…
Event-based cameras are biologically inspired sensors that output events, i.e., asynchronous pixel-wise brightness changes in the scene. Their high dynamic range and temporal resolution of a microsecond makes them more reliable than…