Abstract: Retrographic sensors described herein may provide smaller sensors capable of high-resolution three-dimensional reconstruction of an object in contact with the sensor. Such sensors may be used by robots for work in narrow environments, fine manipulation tasks, and other applications. To provide a smaller sensor, a reduced number of light sources may be provided in the sensor in some embodiments. For example, three light sources, two light sources, or one light source, may be used in some sensors. When fewer light sources are provided, full color gradient information may not be provided. Instead, the missing gradients in one direction or other information related to a three-dimensional object in contact with the sensor may be determined using gradients in a different direction that were provided by the real data. This may be done using a trained statistical model, such as a neural network, in some embodiments.

Abstract: Retrographic sensors described herein may provide smaller sensors capable of high-resolution three-dimensional reconstruction of an object in contact with the sensor. Such sensors may be used by robots for work in narrow environments, fine manipulation tasks, and other applications. To provide a smaller sensor, a reduced number of light sources may be provided in the sensor in some embodiments. For example, three light sources, two light sources, or one light source, may be used in some sensors. When fewer light sources are provided, full color gradient information may not be provided. Instead, the missing gradients in one direction or other information related to a three-dimensional object in contact with the sensor may be determined using gradients in a different direction that were provided by the real data. This may be done using a trained statistical model, such as a neural network, in some embodiments.