Visuotactile sensing technology has received much attention in recent years. This article proposes a feature detection method applicable to visuotactile sensors based on continuous marker patterns (CMP) to measure 3-d deformation. First, we construct the feature model of checkerboard-like corners under contact deformation, and design a novel double-layer circular sampler. Then, we propose the judging criteria and response function of corner features by analyzing sampling signals' amplitude-frequency characteristics and circular cross-correlation behavior. The proposed feature detection algorithm fully considers the boundary characteristics retained by the corners with geometric distortion, thus enabling reliable detection at a low calculation cost. The experimental results show that the proposed method has significant advantages in terms of real-time and robustness. Finally, we have achieved the high-density 3-d contact deformation visualization based on this detection method. This technique is able to clearly record the process of contact deformation, thus enabling inverse sensing of dynamic contact processes.

翻译：近年来，视触觉传感技术备受关注。本文提出一种基于连续标记图案（CMP）的视触觉传感器特征检测方法，用于三维形变测量。首先，我们构建了接触变形下类棋盘格角点的特征模型，并设计了一种新颖的双层环形采样器。随后，通过分析采样信号的幅频特性与环形互相关行为，提出了角点特征的判据与响应函数。所提特征检测算法充分考虑了几何畸变下角点保留的边界特性，从而能够以较低的计算代价实现可靠检测。实验结果表明，该方法在实时性与鲁棒性方面具有显著优势。最终，基于该检测方法实现了高密度三维接触形变可视化。该技术能够清晰记录接触形变过程，进而实现对动态接触过程的逆传感。