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Vision-based tactile sensors that can measure 3D geometry of the contactingobjects are crucial for robots to perform dexterous manipulation tasks.However, the existing sensors are usually complicated to fabricate and delicateto extend. In this work, we novelly take advantage of the reflection propertyof semitransparent elastomer to design a robust, low-cost, andeasy-to-fabricate tactile sensor named DTact. DTact measures high-resolution 3Dgeometry accurately from the darkness shown in the captured tactile images withonly a single image for calibration. In contrast to previous sensors, DTact isrobust under various illumination conditions. Then, we build prototypes ofDTact that have non-planar contact surfaces with minimal extra efforts andcosts. Finally, we perform two intelligent robotic tasks including poseestimation and object recognition using DTact, in which DTact shows largepotential in applications.

DTact: A Vision-Based Tactile Sensor that Measures High-Resolution 3D Geometry Directly from Darkness