光学精密工程2025，Vol.33Issue(15)：2319-2330,12.DOI:10.37188/OPE.20253315.2319
相位测量偏折术与机器人主动触觉检测相融合的透明平面玻璃三维测量
Three-dimensional measurement of transparent planar glass based on fusion of phase measuring deflectometry and robotic active tactile sensing
摘要
Abstract
Traditional vision-based measurement techniques perform poorly on transparent glass surfaces,while tactile sensing is constrained by low sampling efficiency and limited resolution,impeding high-preci-sion surface reconstruction.To address these limitations,a vision-tactile fusion measurement method is presented,integrating phase-measuring deflectometry with active tactile sensing.The vision subsystem supplies relative surface phase-gradient information,whereas the tactile subsystem provides absolute posi-tional measurements;this combination resolves the gradient-height ambiguity and suppresses ghost-fringe artefacts produced by light deflection at the lower glass surface.An experimental setup comprising a Re-alsense D435 depth camera and a UR10 robotic arm was implemented and evaluated on planar and near-planar glass specimens.Results demonstrate that the proposed method enables accurate perception and re-construction of both planar and near-planar transparent glass surfaces.Relative to a depth-camera approach augmented by a developer agent,the proposed method reduced RMS error by(80.59%)for concave sur-face reconstruction and by(96.33%)for convex surface reconstruction.The approach exploits the robot's inherent vision-tactile capabilities to achieve three-dimensional measurement and localization of transparent glass,offering a practical solution for robotic perception and reconstruction of transparent surfaces.关键词
相位测量偏折术/视触融合/玻璃检测/主动触觉检测Key words
phase measuring deflectometry/vision-tactile fusion/glass surface reconstruction/active tac-tile detection分类
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胡慧然,宋爱国..相位测量偏折术与机器人主动触觉检测相融合的透明平面玻璃三维测量[J].光学精密工程,2025,33(15):2319-2330,12.基金项目
国防基础科研项目(No.JCKY2022110C040) （No.JCKY2022110C040）
