Tactile-Augmented Radiance Fields

arXiv:2405.04534v1 Announce Type: new
Abstract: We present a scene representation, which we call a tactile-augmented radiance field (TaRF), that brings vision and touch into a shared 3D space. This representation can be used to estimate the visual and tactile signals for a given 3D position within a scene. We capture a scene's TaRF from a collection of photos and sparsely sampled touch probes. Our approach makes use of two insights: (i) common vision-based touch sensors are built on ordinary cameras …

arxiv cs.cv fields type