TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction Using Vision-Based Tactile Sensing

Humans rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in manipulating objects using data-driven approaches that utilise high-resolution vision-based tactile sensors. However, 3D shape reconstruction using tactile sensing has lagged behind visual shape reconstruction because of limitations in existing techniques, including the inability to generalise over unseen shapes, absence of real-world testing and limited expressive capacity imposed by fixed topologies of graphs or meshes. To address these challenges, we propose TouchSDF, a Deep Learning approach for tactile 3D shape reconstruction that leverages the rich information provided by a vision-based tactile sensor and the expressivity of the implicit neural representation DeepSDF. This combination allows TouchSDF to reconstruct smooth and continuous 3D shapes from tactile inputs in simulation and real-world settings, opening up research avenues for robust 3D-aware representations and improved multimodal perception for robot manipulation.