# 3D Vision-tactile Reconstruction from Infrared and Visible Images for Robotic Fine-grained Tactile Perception

arXiv: https://arxiv.org/abs/2506.15087 · HTML: https://mlsanity.com/paper/2506.15087/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 Jun 2025.

## Built on by (most cited first, 1 of 1)

- [NLiPsCalib: An Efficient Calibration Framework for High-Fidelity 3D Reconstruction of Curved Visuotactile Sensors](https://mlsanity.com/paper/2603.09319/) (2026)

## Abstract (arXiv)

To achieve human-like haptic perception in anthropomorphic grippers, the compliant sensing surfaces of vision tactile sensor (VTS) must evolve from conventional planar configurations to biomimetically curved topographies with continuous surface gradients. However, planar VTSs have challenges when extended to curved surfaces, including insufficient lighting of surfaces, blurring in reconstruction, and complex spatial boundary conditions for surface structures. With an end goal of constructing a human-like fingertip, our research (i) develops GelSplitter3D by expanding imaging channels with a prism and a near-infrared (NIR) camera, (ii) proposes a photometric stereo neural network with a CAD-based normal ground truth generation method to calibrate tactile geometry, and (iii) devises a normal integration method with boundary constraints of depth prior information to correcting the cumulative error of surface integrals. We demonstrate better tactile sensing performance, a 40% improvement in normal estimation accuracy, and the benefits of sensor shapes in grasping and manipulation tasks.