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GelStereo sensing technology is capable of performing three-dimensional (3D) contact shape measurement under various contact structures such as bionic curved surfaces, which has promising advantages in the field of visuotactile sensing. However, due to multi-medium ray refraction in the imaging system, robust and high-precision tactile 3D reconstruction remains a challenging problem for GelStereo-type sensors with different structures. In this paper, we first propose a universal Refractive Stereo Ray Tracing (RSRT) model for GelStereo-type sensing systems to realize 3D reconstruction of the contact surface. Moreover, a relative geometry-based optimization method is presented to calibrate multiple parameters of the proposed RSRT model, such as the refractive indices and structural dimensions. Furthermore, extensive quantitative calibration experiments are performed on four different GelStereo sensing platforms; the experimental results show that the proposed calibration pipeline can achieve less than 0.35 mm in Euclidean distance error, based on which we believe that the proposed refractive calibration method can be further applied in more complex GelStereo-type and other similar visuotactile sensing systems. Such high-precision visuotactile sensors can facilitate the study of robotic dexterous manipulation.

High-Precision 3D Reconstruction Study with Emphasis on Refractive Calibration of GelStereo-Type Sensors