Vision-based tactile measurement method and apparatus, chip, and storage medium

A computer device in connection with a tactile sensor, the tactile sensor comprising a sensing face and an image sensing component, and the sensing face being provided with a marking pattern, the computer device further comprising a memory and a processor, wherein the memory stores a plurality of computer-readable instructions;

• and when the processor executes the plurality of computer-readable instructions, causes the computer device to perform a plurality of operations including:
• obtaining an image sequence collected by the image sensing component of the sensing face, each image of the image sequence comprising one instance of the marking pattern;
• calculating a difference feature of the marking patterns in adjacent images of the image sequence;
• and
• processing the difference feature of the marking patterns using a feedforward neural network to obtain a tactile measurement result, a quantity of hidden layers in the feedforward neural network being less than a threshold.

A non-transitory computer-readable storage medium, storing a plurality of computer-readable instructions, wherein the plurality of computer-readable instruction when executed by a processor of a computer device in connection with a tactile sensor, the tactile sensor comprising a sensing face and an image sensing component, and the sensing face being provided with a marking pattern, cause the computer device to perform a plurality of operations including:

• obtaining an image sequence collected by the image sensing component of the sensing face, each image of the image sequence comprising one instance of the marking pattern;
• calculating a difference feature of the marking patterns in adjacent images of the image sequence;
• and
• processing the difference feature of the marking patterns using a feedforward neural network to obtain a tactile measurement result, a quantity of hidden layers in the feedforward neural network being less than a threshold.