Proximity3D: Shape from Capacitive Proximity on Sensing Manifold

2026-08-31

AI Summary

本文提出使用曲面电容纺织品作为形状传感器，通过多视图前馈重建模型聚合电容接近场数据以恢复物体形状。

Abstract

Most shape reconstruction methods assume measurements defined over planar sensing domains, such as RGB images or depth maps. In this paper, we use a curved capacitive textile as a shape sensor, treating its surface as a non-planar sensing manifold. Each scan is represented as a capacitive proximity field on this manifold, induced by the interaction between the curved electrode layout and nearby object geometry. We introduce a multi-view feedforward reconstruction model that aggregates these fields across known sensor views and recovers the observed object shape. Simulated and physical experiments demonstrate robust reconstruction from capacitive proximity signals acquired on curved sensing surfaces, pointing toward a new route to robotic near-field geometric awareness via embodied sensing.

Problem

• shape reconstruction
• capacitive proximity
• sensing manifold
• curved surface

Innovation

• capacitive proximity
• non-planar sensing manifold
• multi-view feedforward reconstruction model
• embodied sensing