MANIPULATOR BASED ON IMPROVED PHOTOMETRIC STEREO RECONSTRUCTION METHOD

被引：0
作者：
Wei, Haofeng [1 ]
Cao, Yuwei [2 ]
Tao, Bo [3 ]
Lu, Chao [4 ]
Lv, Weidong [5 ]
Xu, Jianqiao [5 ]
机构：
[1] Wuhan Univ Technol, Sch Automat, Wuhan, Peoples R China
[2] AVIC Chengdu Aircraft Ind Grp Co Ltd, Chengdu, Peoples R China
[3] Wuhan Univ Sci & Technol, Key Lab Met Equipment & Control Technol, Minist Educ, Wuhan 430081, Peoples R China
[4] Hightech Res Inst Baoji, Baoji, Peoples R China
[5] Naval Engn Univ, Informat Secur Dept, Wuhan 430033, Peoples R China
来源：
MECHATRONIC SYSTEMS AND CONTROL | 2024年 / 52卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Photometric stereo; 3D reconstruction; visual -tactile sensing; manipulator; manipulation skills;
D O I：
10.2316/J.2024.201-0426
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
During the process of 3D reconstruction using visual-tactile sensors, the classical photometric stereo method has some limitations. Firstly, it assumes that the surface of the object being measured is Lambertian. Secondly, the choice of integration paths can affect the computational accuracy, thereby impacting the accuracy of 3D reconstruction. Therefore, an improved photometric stereo method based on the lookup table approach is proposed. To validate of the contact surface.
引用
收藏
页码：175 / 185
页数：11
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