@article{du20223d,
  title={3D contact point cloud reconstruction from vision-based tactile flow},
  author={Du, Yipai and Zhang, Guanlan and Wang, Michael Yu},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  number={4},
  pages={12177--12184},
  year={2022},
  publisher={IEEE}
}