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Retrographic sensing for the measurement of surface texture and shape
Open accessAbstract
We describe a novel device that can be used as a 2.5D “scanner” for acquiring surface texture and shape. The device consists of a slab of clear elastomer covered with a reflective skin. When an object presses on the skin, the skin distorts to take on the shape of the object's surface. When viewed from behind (through the elastomer slab), the skin appears as a relief replica of the surface. A camera records an image of this relief, using illumination from red, green, and blue light sources at three different positions. A photometric stereo algorithm that is tailored to the device is then used to reconstruct the surface. There is no problem dealing with transparent or specular materials because the skin supplies its own BRDF. Complete information is recorded in a single frame; therefore we can record video of the changing deformation of the skin, and then generate an animation of the changing surface. Our sensor has no moving parts (other than the elastomer slab), uses inexpensive materials, and can be made into a portable device that can be used “in the field” to record surface shape and texture.
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Cited by
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Ward-Cherrier, B., Pestell, N., Cramphorn, L., Winstone, B., Giannaccini, M. E., Rossiter, J., & Lepora, N. F. (2018) · Soft Robotics · doi:10.1089/soro.2017.0052 · Cited by 587
More Than a Feeling: Learning to Grasp and Regrasp Using Vision and Touch
Calandra, R., Owens, A., Jayaraman, D., Lin, J., Yuan, W., Malik, J., Adelson, E. H., & Levine, S. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2852779 · Cited by 359
Self-citationRearrangement: A Challenge for Embodied AI
Batra, D., Chang, A. X., Chernova, S., Davison, A. J., Deng, J., Koltun, V., Levine, S., Malik, J., Mordatch, I., Mottaghi, R., et al. (2020) · arXiv · doi:10.48550/arxiv.2011.01975 · Cited by 109
“A variety of sensor types are common: color vision cameras, depth sensors, contact/collision sensors, tactile sensors [50], Li-DAR, microphones, and elastomeric sensors such as Gel-Sight [38, 80] are prominent examples.”
BackgroundSoliman, A., AlAmoodi, N., Karanikolos, G. N., Doumanidis, C. C., & Polychronopoulou, K. (2020) · Nanomaterials · doi:10.3390/nano10112198 · Cited by 53
Metadata
- Authors
- Johnson, M. K., & Adelson, E. H.
- Venue
- 2009 IEEE Conference on Computer Vision and Pattern Recognition
- Publisher
- IEEE
- Published
- 2009-06
- Pages
- 1070-1077
- ISSN
- 1063-6919 (ISSN-L)
- OpenAlex
- W2169364846
- Cited by
- 307
- References
- 0
- FWCI
- 9.76
- Type
- conference paper
- Language
- en
- Open access
- green
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- Johnson, M. K., & Adelson, E. H. (2009). Retrographic sensing for the measurement of surface texture and shape. 2009 IEEE Conference on Computer Vision and Pattern Recognition. https://doi.org/10.1109/cvpr.2009.5206534
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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