Tac2Structure

Tac2Structure: Object Surface Reconstruction Only through Multi Times Touch

1. Introduction

Tac2Structure is a novel Tactile surface reconstruction framework, which can accurately estimate the egomotion of the tactile sensor and reconstruct object surfaces with low drift. Our paper is available here.

2. Usage of toolbox

git clone https://github.com/ljy-zju/Tac2Structure.git
cd Tac2Structure/0_creat_data_set
python data_toolbox.py

Replace the path in the .py file with where you want to write the .xls file in.

3. Demo video

Our accompanying videos are now available on Bilibili¹

License

The source code is released under GPLv2 license.

We are still working on improving the performance and reliability of our codes. For any technical issues, please contact me via email Junyuan Lu < junyl@zju.edu.cn >.

If you use any code of this repo in your academic research, please cite our paper:

@ARTICLE{10021601,
  author={Lu, Junyuan and Wan, Zeyu and Zhang, Yu},
  journal={IEEE Robotics and Automation Letters}, 
  title={Tac2Structure: Object Surface Reconstruction Only Through Multi Times Touch}, 
  year={2023},
  volume={8},
  number={3},
  pages={1391-1398},
  doi={10.1109/LRA.2023.3238190}}

ljy-zju / Tac2Structure