US 12,214,487 B2
Vision-based tactile measurement method and apparatus, chip, and storage medium
Yu Zheng, Shenzhen (CN); Zhongjin Xu, Shenzhen (CN); and Zhengyou Zhang, Shenzhen (CN)
Assigned to TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Shenzhen (CN)
Filed by Tencent Technology (Shenzhen) Company Limited, Shenzhen (CN)
Filed on Jul. 7, 2021, as Appl. No. 17/369,837.
Application 17/369,837 is a continuation of application No. PCT/CN2020/085608, filed on Apr. 20, 2020.
Claims priority of application No. 201910411693.6 (CN), filed on May 16, 2019.
Prior Publication US 2021/0334584 A1, Oct. 28, 2021
Int. Cl. B25J 13/08 (2006.01); G01B 5/20 (2006.01); G06F 18/21 (2023.01); G06F 18/22 (2023.01); G06F 18/24 (2023.01); G06N 3/08 (2023.01); G06T 7/40 (2017.01); G06T 7/64 (2017.01); G06V 10/22 (2022.01); G06V 10/75 (2022.01); G06V 10/764 (2022.01); G06V 10/774 (2022.01); G06V 10/776 (2022.01); G06V 10/82 (2022.01); G06V 20/10 (2022.01)
CPC B25J 13/084 (2013.01) [G01B 5/20 (2013.01); G06F 18/21 (2023.01); G06F 18/22 (2023.01); G06F 18/24 (2023.01); G06N 3/08 (2013.01); G06T 7/40 (2013.01); G06T 7/64 (2017.01); G06V 10/225 (2022.01); G06V 10/758 (2022.01); G06V 10/764 (2022.01); G06V 10/774 (2022.01); G06V 10/776 (2022.01); G06V 10/82 (2022.01); G06T 2207/20084 (2013.01); G06V 20/10 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A vision-based tactile measurement method performed by a computer device connected to a tactile sensor, the tactile sensor comprising a sensing face and an image sensing component, and the sensing face being provided with a marking pattern; and the method comprising:
obtaining an image sequence collected by the image sensing component of the sensing face that is in physical contact with a surface of an object, each image of the image sequence comprising one instance of the marking pattern;
calculating a difference feature of the marking patterns in adjacent images of the image sequence; and
processing the difference feature of the marking patterns using a feedforward neural network to obtain a tactile measurement result, further comprising:
calling a hidden layer in the feedforward neural network to perform feature extraction on the difference feature of the marking patterns to obtain a feature representation of the surface of the object, the feature presentation further including a curvature prediction on the surface of the object; and
calling an output layer in the feedforward neural network to process the feature representation to obtain the tactile measurement result, the tactile measurement result comprising a local curvature radius of the surface of the object.