@article{zhang2022deltact,
  title={DelTact: A vision-based tactile sensor using a dense color pattern},
  author={Zhang, Guanlan and Du, Yipai and Yu, Hongyu and Wang, Michael Yu},
  journal={IEEE Robotics and Automation Letters},
  volume={7},
  number={4},
  pages={10778--10785},
  year={2022},
  publisher={IEEE}
}