Simulation of Vision-based Tactile Sensors using Physics based Rendering
Abstract
Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot interaction. However, the simulation of tactile sensors is still a challenge. In this paper, we built the first fully general optical tactile simulation system for a GelSight sensor using physics based rendering techniques. We propose physically accurate light models and show in-depth analysis of individual components of our simulation pipeline. Our system outperforms previous simulation techniques qualitatively and quantitative on image similarity metrics. Our code and experimental data is open-sourced at project page project page.
BibTeX
@conference{Agarwal-2021-130384,author = {Arpit Agarwal and Timothy Man and Wenzhen Yuan},
title = {Simulation of Vision-based Tactile Sensors using Physics based Rendering},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2021},
month = {October},
keywords = {tactile sensors},
}