Corpus ID: 235446468

GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger

@article{Wang2021GelSightWM,
  title={GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger},
  author={Shaoxiong Wang and Y. She and Branden Romero and E. Adelson},
  journal={ArXiv},
  year={2021},
  volume={abs/2106.08851}
}
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 highresolution 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 highresolution 3D reconstruction. We evaluate the 3D reconstruction under… Expand

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