Full-Array Markers Tracking Adapted to Large Contact Distortion in Visuotactile Sensing
Visuotactile sensors (VTSs) achieve tactile sensing based on camera-captured images, where the problem of losing markers during tracking may lead to inferior sensor performance. This article proposes a methodology adapted to large contact distortion in VTS sensing, including the geometric constraine...
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Veröffentlicht in: | IEEE sensors journal 2024-05, Vol.24 (9), p.14018-14026 |
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description | Visuotactile sensors (VTSs) achieve tactile sensing based on camera-captured images, where the problem of losing markers during tracking may lead to inferior sensor performance. This article proposes a methodology adapted to large contact distortion in VTS sensing, including the geometric constrained marker pattern design and the dynamic full-array markers tracking method. The tracking method couples the traditional sparse optical flow (SOF) and the lost marker relocation algorithm, and thus, it maintains high accuracy in the noncontact region, while the complementary markers are patched in the contact region ensuring the integrity of tracking markers when localized large distortion occurs. Based on the numerical benchmark, the proposed method is compared with the conventional SOF method (two marker patterns with array or checkerboard markers). The results show that, in the case of large deformation, the leakage ratio of the tracking markers with the proposed method (0%) is significantly lower compared to that of SOF methods (>10%). Furthermore, a compact binocular VTS is prototyped, where the press-release tests with multiple types of objects are performed, and the contact sensing performance is analyzed. Full-array markers can be tracked dynamically with root-mean-square error (RSME) of tracking at the subpixel level (0.26 pixels). In terms of dynamic force sensing, the proposed method is capable of tracking sudden changes in contact force by relocating the lost markers, whereas the traditional methods are usually ineffective. |
doi_str_mv | 10.1109/JSEN.2024.3377681 |
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This article proposes a methodology adapted to large contact distortion in VTS sensing, including the geometric constrained marker pattern design and the dynamic full-array markers tracking method. The tracking method couples the traditional sparse optical flow (SOF) and the lost marker relocation algorithm, and thus, it maintains high accuracy in the noncontact region, while the complementary markers are patched in the contact region ensuring the integrity of tracking markers when localized large distortion occurs. Based on the numerical benchmark, the proposed method is compared with the conventional SOF method (two marker patterns with array or checkerboard markers). The results show that, in the case of large deformation, the leakage ratio of the tracking markers with the proposed method (0%) is significantly lower compared to that of SOF methods (>10%). Furthermore, a compact binocular VTS is prototyped, where the press-release tests with multiple types of objects are performed, and the contact sensing performance is analyzed. Full-array markers can be tracked dynamically with root-mean-square error (RSME) of tracking at the subpixel level (0.26 pixels). In terms of dynamic force sensing, the proposed method is capable of tracking sudden changes in contact force by relocating the lost markers, whereas the traditional methods are usually ineffective.</description><identifier>ISSN: 1530-437X</identifier><identifier>EISSN: 1558-1748</identifier><identifier>DOI: 10.1109/JSEN.2024.3377681</identifier><identifier>CODEN: ISJEAZ</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Arrays ; Cameras ; Contact force ; Deformation ; Distortion ; Elastomers ; Force ; Image reconstruction ; Marker tracking ; Pixels ; Sensors ; sparse optical flow (SOF) ; Tracking ; visuotactile sensor (VTS)</subject><ispartof>IEEE sensors journal, 2024-05, Vol.24 (9), p.14018-14026</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2024</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><cites>FETCH-LOGICAL-c246t-5ee1f05b9a5ce35f99544bbebdeeca6b43f0157f874a4088434e527dab8c4ffc3</cites><orcidid>0000-0001-5179-0274 ; 0009-0005-8558-8409</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/10477895$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,780,784,796,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/10477895$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Ma, Huan</creatorcontrib><creatorcontrib>Ji, Jingjing</creatorcontrib><title>Full-Array Markers Tracking Adapted to Large Contact Distortion in Visuotactile Sensing</title><title>IEEE sensors journal</title><addtitle>JSEN</addtitle><description>Visuotactile sensors (VTSs) achieve tactile sensing based on camera-captured images, where the problem of losing markers during tracking may lead to inferior sensor performance. This article proposes a methodology adapted to large contact distortion in VTS sensing, including the geometric constrained marker pattern design and the dynamic full-array markers tracking method. The tracking method couples the traditional sparse optical flow (SOF) and the lost marker relocation algorithm, and thus, it maintains high accuracy in the noncontact region, while the complementary markers are patched in the contact region ensuring the integrity of tracking markers when localized large distortion occurs. Based on the numerical benchmark, the proposed method is compared with the conventional SOF method (two marker patterns with array or checkerboard markers). The results show that, in the case of large deformation, the leakage ratio of the tracking markers with the proposed method (0%) is significantly lower compared to that of SOF methods (>10%). Furthermore, a compact binocular VTS is prototyped, where the press-release tests with multiple types of objects are performed, and the contact sensing performance is analyzed. Full-array markers can be tracked dynamically with root-mean-square error (RSME) of tracking at the subpixel level (0.26 pixels). In terms of dynamic force sensing, the proposed method is capable of tracking sudden changes in contact force by relocating the lost markers, whereas the traditional methods are usually ineffective.</description><subject>Arrays</subject><subject>Cameras</subject><subject>Contact force</subject><subject>Deformation</subject><subject>Distortion</subject><subject>Elastomers</subject><subject>Force</subject><subject>Image reconstruction</subject><subject>Marker tracking</subject><subject>Pixels</subject><subject>Sensors</subject><subject>sparse optical flow (SOF)</subject><subject>Tracking</subject><subject>visuotactile sensor (VTS)</subject><issn>1530-437X</issn><issn>1558-1748</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2024</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpNkMtOwzAQRSMEEqXwAUgsLLFOsWO7tpdVoTxUYNHy2FmOO67ShrjYzqJ_T6J2wWquRufOSCfLrgkeEYLV3cvi4W1U4IKNKBViLMlJNiCcy5wIJk_7THHOqPg-zy5i3GBMlOBikH3N2rrOJyGYPXo1YQshomUwdls1azRZmV2CFUoezU1YA5r6Jhmb0H0Vkw-p8g2qGvRZxdb3-6oGtIAmdt3L7MyZOsLVcQ6zj9nDcvqUz98fn6eTeW4LNk45ByAO81IZboFypxRnrCyhXAFYMy4ZdZhw4aRghmEpGWXAC7EypbTMOUuH2e3h7i743xZi0hvfhqZ7qSlmiqmikKqjyIGywccYwOldqH5M2GuCde9P9_50708f_XWdm0OnAoB_PBNCKk7_AIzubTk</recordid><startdate>20240501</startdate><enddate>20240501</enddate><creator>Ma, Huan</creator><creator>Ji, Jingjing</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>7U5</scope><scope>8FD</scope><scope>L7M</scope><orcidid>https://orcid.org/0000-0001-5179-0274</orcidid><orcidid>https://orcid.org/0009-0005-8558-8409</orcidid></search><sort><creationdate>20240501</creationdate><title>Full-Array Markers Tracking Adapted to Large Contact Distortion in Visuotactile Sensing</title><author>Ma, Huan ; Ji, Jingjing</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c246t-5ee1f05b9a5ce35f99544bbebdeeca6b43f0157f874a4088434e527dab8c4ffc3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2024</creationdate><topic>Arrays</topic><topic>Cameras</topic><topic>Contact force</topic><topic>Deformation</topic><topic>Distortion</topic><topic>Elastomers</topic><topic>Force</topic><topic>Image reconstruction</topic><topic>Marker tracking</topic><topic>Pixels</topic><topic>Sensors</topic><topic>sparse optical flow (SOF)</topic><topic>Tracking</topic><topic>visuotactile sensor (VTS)</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Ma, Huan</creatorcontrib><creatorcontrib>Ji, Jingjing</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Solid State and Superconductivity Abstracts</collection><collection>Technology Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection><jtitle>IEEE sensors journal</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Ma, Huan</au><au>Ji, Jingjing</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Full-Array Markers Tracking Adapted to Large Contact Distortion in Visuotactile Sensing</atitle><jtitle>IEEE sensors journal</jtitle><stitle>JSEN</stitle><date>2024-05-01</date><risdate>2024</risdate><volume>24</volume><issue>9</issue><spage>14018</spage><epage>14026</epage><pages>14018-14026</pages><issn>1530-437X</issn><eissn>1558-1748</eissn><coden>ISJEAZ</coden><abstract>Visuotactile sensors (VTSs) achieve tactile sensing based on camera-captured images, where the problem of losing markers during tracking may lead to inferior sensor performance. This article proposes a methodology adapted to large contact distortion in VTS sensing, including the geometric constrained marker pattern design and the dynamic full-array markers tracking method. The tracking method couples the traditional sparse optical flow (SOF) and the lost marker relocation algorithm, and thus, it maintains high accuracy in the noncontact region, while the complementary markers are patched in the contact region ensuring the integrity of tracking markers when localized large distortion occurs. Based on the numerical benchmark, the proposed method is compared with the conventional SOF method (two marker patterns with array or checkerboard markers). The results show that, in the case of large deformation, the leakage ratio of the tracking markers with the proposed method (0%) is significantly lower compared to that of SOF methods (>10%). Furthermore, a compact binocular VTS is prototyped, where the press-release tests with multiple types of objects are performed, and the contact sensing performance is analyzed. Full-array markers can be tracked dynamically with root-mean-square error (RSME) of tracking at the subpixel level (0.26 pixels). In terms of dynamic force sensing, the proposed method is capable of tracking sudden changes in contact force by relocating the lost markers, whereas the traditional methods are usually ineffective.</abstract><cop>New York</cop><pub>IEEE</pub><doi>10.1109/JSEN.2024.3377681</doi><tpages>9</tpages><orcidid>https://orcid.org/0000-0001-5179-0274</orcidid><orcidid>https://orcid.org/0009-0005-8558-8409</orcidid></addata></record> |
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subjects | Arrays Cameras Contact force Deformation Distortion Elastomers Force Image reconstruction Marker tracking Pixels Sensors sparse optical flow (SOF) Tracking visuotactile sensor (VTS) |
title | Full-Array Markers Tracking Adapted to Large Contact Distortion in Visuotactile Sensing |
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