Camera-based tactile sensor system
The present invention provides a tactile sensor system which comprises: a tactile sensing device providing a tactile sensing member having a plurality of protrusion patterns formed therein and a finger including a single camera photographing an inner surface of the tactile sensing member; and a cont...
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| Format: | Patent |
| Sprache: | eng ; kor |
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| Zusammenfassung: | The present invention provides a tactile sensor system which comprises: a tactile sensing device providing a tactile sensing member having a plurality of protrusion patterns formed therein and a finger including a single camera photographing an inner surface of the tactile sensing member; and a control device generating a parallax map including distance information on a 2D image inputted from the single camera by using a deep learning network and obtaining tactile sensing information based on the 2D image and the parallax map.
본 발명은 내면에 다수의 돌기패턴이 형성된 촉감감지부재와, 상기 촉감감지부재의 내면을 촬영하는 단일 카메라를 포함하는 핑거를 구비한 촉각감지장치와; 딥러닝 네트워크를 이용하여 상기 단일 카메라에서 입력된 2D 영상에 대해 거리정보가 포함된 시차 맵을 생성하고, 상기 2D 영상 및 시차 맵을 기초로 촉각센싱 정보를 획득하는 제어 장치를 포함하는 촉각 센싱 시스템을 제공한다. |
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