TouchTherm: Building Multimodal Digital Twins of Objects for Tactile and Thermal Rendering
TouchTherm creates simulation-ready digital twins of real objects by integrating visual geometry, tactile microgeometry, and dynamic thermal fields. It reconstructs spatially varying surface textures for high-fidelity haptic rendering and simulates time-varying temperatures from infrared videos. This allows for realistic interaction in robotic simulations where touch and heat are important.