Calibration-Free Surface Normals Estimation in Vision-Based Tactile Sensing using Universal Photometric Stereo
Vision-based tactile sensors are a popular solution for capturing rich contact surface geometry. However, to obtain high-detail contact surface normals and depth, it is necessary to calibrate the sensor by physically pressing a probe with known geometry against the sensor elastomer and mapping tactile images onto the ground truth probe's shape. This approach does not scale across different tactile sensors, and the calibration effort can be complex depending on the sensor shape and optical system. Instead, we propose a calibration-free procedure for the estimation of contact surface normals using Universal Photometric Stereo neural networks. In a series of real-world experiments, we evalua...
| Authors | Zdravko Dugonjic, Stefanie Speidel, Roberto Calandra |
|---|---|
| Primary category | cs.CV |
| Published | 23 September 2026 |
| Last updated at source | 23 September 2026 |
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