发表机构
ShanghaiTech University（上海科技大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
TouchTherm通过结合结构光扫描、光度立体和红外视频，构建包含视觉、触觉和热属性的多模态数字孪生，实现高保真触觉渲染和温度感知交互，并在20个物体上验证了其有效性。
AI 中文摘要
机器人仿真和虚拟现实越来越需要不仅捕获视觉几何，还捕获触觉和热交互背后物理线索的对象资产。现有的3D数据集和重建方法主要表示对象尺度的几何和视觉外观，忽视了用于高保真触觉渲染的微观表面结构和用于温度感知交互的瞬态温度动态。我们提出了TouchTherm，一个从真实世界物体构建可用于仿真的视觉-触觉-热对象资产的框架。对于视觉和触觉重建，我们结合了结构光扫描和通过光度立体获得的多视角法线图。法线图被配准到扫描几何上，并转换到切空间以恢复用于光学触觉渲染的局部微高度场，而粗网格处理碰撞检测。对于热重建，我们捕获受控加热后自然冷却的同步多视角红外视频，并重建一个物理正则化的动态热场。在20个物体上的实验表明，重建的微高度场保留了主要表面结构，并恢复了超出粗几何的更高频细节，而热场在30秒和45秒时的留出表面温度MAE分别为0.465°C和0.592°C。得到的触觉资产支持从触觉观察进行合成到真实的物体识别，而一个基于手套的VR系统展示了空间和时间变化的触觉反馈。这些结果凸显了TouchTherm在多模态感觉仿真和温度感知虚拟交互方面的潜力。
英文摘要
Robotic simulation and virtual reality increasingly require object assets that capture not only visual geometry but also the physical cues underlying tactile and thermal interaction. Existing 3D datasets and reconstruction methods primarily represent object-scale geometry and visual appearance, overlooking microscale surface structure for high-fidelity haptic rendering and transient temperature dynamics for temperature-aware interaction. We present TouchTherm, a framework for constructing simulation-ready visuo-tactile-thermal object assets from real-world objects. For visual and tactile reconstruction, we combine structured-light scanning with multiview normal maps obtained from photometric stereo. The normal maps are registered to the scanned geometry and transformed into tangent space to recover local micro-height fields for optical tactile rendering, while the coarse mesh handles collision detection. For thermal reconstruction, we capture synchronized multiview infrared videos of natural cooling following controlled heating and reconstruct a physics-regularized dynamic thermal field. Experiments on 20 objects show that the reconstructed micro-height fields preserve dominant surface structures and recover higher-frequency details beyond the coarse geometry, while the thermal fields achieve held-out surface-temperature MAEs of 0.465 degrees C and 0.592 degrees C at 30 s and 45 s, respectively. The resulting tactile assets support synthetic-to-real object recognition from tactile observations, while a glove-based VR system demonstrates spatially and temporally varying thermal feedback. These results highlight the potential of TouchTherm for multimodal sensory simulation and temperature-aware virtual interaction.
Comments8 pages, 8 figures. Project webpage: https://anonymous-research1.github.io/
