My understanding is that *all* our sensations are based on "images"/fields/eidola. The mental faculty simply picks up the finest, most subtle images. But all sensations are based on touch, from the sense of touch itself to vision touching the images emitted by objects, to the mental faculty touching the finest most subtle fields.
As to "all sensations are based on touch," I would agree, that contact between atoms is the way all of them work - no "action at a distance" without touch.
But I think we ought to dig further, presumably into book 4 of Lucretius, to clarify whether smell or touch or taste, for example, are based on "images."