TacTape: Real-time High-accuracy Tactile Fiducial System with Structured 3D Texture for Vision-based Tactile Sensors

Meng Wang, Wanlin Li, qiuxuan chen, Yuzhe Huang, Hang li, Kaspar Althoefer, Ziyuan Jiao, Yao Su, Hangxin Liu

Keywords: Tactile data interpretation

TL;DR: We propose TacTape, a novel tactile fiducial system that enables accurate and efficient tactile localization by attaching textured tape to object surfaces.

Abstract:

Abstract— Vision-based tactile sensors enable high-resolution
tactile perception by capturing image-based contact data. However, their utility in tactile localization is limited by their inherently small and local sensing area, as well as their dependence
on distinct object surface features. We propose TacTape, a novel
tactile fiducial system that enables accurate and efficient tactile
localization by attaching textured tape to object surfaces. A
lightweight algorithm allows real-time estimation of contact
position and orientation from partially observed structured
3D textures. Experiments demonstrate that TacTape achieves
sub-millimeter positional and sub-degree angular localization
accuracy, and operates significantly faster than classic tactile
mapping methods.

Submission Number: 15