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As automation technologies advance, the need for compact and multi-modalsensors in robotic applications is growing. To address this demand, weintroduce CompdVision, a novel sensor that combines near-field 3D visual andtactile sensing. This sensor, with dimensions of 22$\times$14$\times$14 mm,leverages the compound eye imaging system to achieve a compact form factorwithout compromising its dual modalities. CompdVision utilizes two types ofvision units to meet diverse sensing requirements. Stereo units with far-focuslenses can see through the transparent elastomer, facilitating depth estimationbeyond the contact surface, while tactile units with near-focus lenses trackthe movement of markers embedded in the elastomer to obtain contactdeformation. Experimental results validate the sensor's superior performance in3D visual and tactile sensing. The sensor demonstrates effective depthestimation within a 70mm range from its surface. Additionally, it registershigh accuracy in tangential and normal force measurements. The dual modalitiesand compact design make the sensor a versatile tool for complex robotic tasks.

CompdVision: Combining Near-Field 3D Visual and Tactile Sensing Using a Compact Compound-Eye Imaging System