We present a spherical tactile sensor based on the GelSight principle, enabling omnidirectional contact geometry reconstruction. The sensor uses a novel spherical elastomer design with integrated illumination and a calibrated photometric stereo pipeline for surface normal estimation.
@inproceedings{lee2026spherical,title={GelSphere: An Omnidirectional Rolling Vision-Based Tactile Sensor for Online 3D Reconstruction and Normal Force Estimation},author={Lee, Seoyeon and Mirzaee, Mohammad Amin and Yuan, Wenzhen},booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},year={2026},note={Submitted. * equal contribution},}