NDLI: Real Time Stable Haptic Rendering Of 3D Deformable Streaming Surface

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Real Time Stable Haptic Rendering Of 3D Deformable Streaming Surface

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Real Time Stable Haptic Rendering Of 3D Deformable Streaming Surface

Content Provider	ACM Digital Library
Author	Tian, Yuan Guo, Xiaohu Li, Chao Prabhakaran, Balakrishnan
Abstract	In recent years, many researches are focusing on the haptic interaction with streaming data like RGBD video / point cloud stream captured by commodity depth sensors. Most previous methods use partial streaming data from depth sensors and only investigate haptic rendering of the rigid surface without complex physics simulation. Many virtual reality and tele-immersive applications such as medical training, and art designing require the complete scene and physics simulation. In this paper, we propose a stable haptic rendering method capable of interacting with streaming deformable surface in real-time. Our method applies KinectFusion for real-time reconstruction of real-world object surface instead of incomplete surface. While construction, it simultaneously uses hierarchical shape matching (HSM) method to simulate the surface deformation in haptic-enabled interaction. We have demonstrated how to combine the fusion and physics simulation of deformation together, and proposed a continuous collision detection method based on Truncated Signed Distance Function (TSDF). Furthermore, we propose a fast TSDF warping method to update the deformation to TSDF, and a proxy finding method to find the proxy position. The proposed method is able to simulate the haptic-enabled deformation of the 3D fusion surface. Therefore it provides a novel haptic interaction for virtual reality and 3D tele-immersive applications. Experimental results show that the proposed approach provides stable haptic rendering and fast simulation of 3D deformable surface.
Starting Page	136
Ending Page	146
Page Count	11
File Format	PDF
ISBN	9781450350020
DOI	10.1145/3083187.3083198
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2017-06-20
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Haptic rendering Deformation Tele-immersion Kinectfusion
Content Type	Text
Resource Type	Article

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