As automation technologies advance, the need for compact and multi-modal sensors in robotic applications is growing. To address this demand, we introduce CompdVision, a novel sensor that combines near-field 3D visual and tactile sensing. This sensor, with dimensions of 22$\times$14$\times$14 mm, leverages the compound eye imaging system to achieve a compact form factor without compromising its dual modalities. CompdVision utilizes two types of vision units to meet diverse sensing requirements. Stereo units with far-focus lenses can see through the transparent elastomer, facilitating depth estimation beyond the contact surface, while tactile units with near-focus lenses track the movement of markers embedded in the elastomer to obtain contact deformation. Experimental results validate the sensor's superior performance in 3D visual and tactile sensing. The sensor demonstrates effective depth estimation within a 70mm range from its surface. Additionally, it registers high accuracy in tangential and normal force measurements. The dual modalities and compact design make the sensor a versatile tool for complex robotic tasks.

翻译：随着自动化技术的发展，机器人应用中对紧凑型多模态传感器的需求日益增长。为应对这一需求，我们提出CompdVision——一种融合近场三维视觉与触觉传感的新型传感器。该传感器尺寸为22×14×14毫米，采用复眼成像系统实现紧凑外形，同时保持双模态传感能力。CompdVision通过两类视觉单元满足不同传感需求：远焦透镜立体单元可透过透明弹性体观测，实现接触面以外的深度估计；近焦透镜触觉单元则追踪弹性体内嵌标记物的运动以获取接触形变。实验验证了该传感器在三维视觉与触觉感知方面的卓越性能——在表面70毫米范围内可进行有效深度估计，同时具备高精度切向力与法向力测量能力。其双模态设计与紧凑结构使其成为复杂机器人任务的理想多功能工具。