Conference Paper

Real-time virtual haptization of an object surface measured by a high-speed projector-camera system

Grad. Sch. of Inf. Sci., Tohoku Univ., Sendai, Japan
DOI: 10.1109/IROS.2010.5651631 Conference: Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Source: IEEE Xplore

ABSTRACT This paper reports real-time virtual haptization of, for example, a remote object surface based on high-speed 3D shape measurement. With this system, the operator feels sense of touch as if tracing the surface of an object. We use a high-speed projector-camera system to achieve high-speed measurement of the object surface so that high-frequency haptic feedback is maintained at a haptic device PHANToM. An actively directed structured light is projected so that the projected slit ray intersects with the haptic interaction point, which is determined by the stylus position of the haptic device. A camera image of this scene gives the positional relationship between the object surface and the haptic interaction point. We use this relationship to generate force feedback such that the haptic interaction point is pushed back to a point on the intersection of the slit ray and the object surface. Experimental results show that the proposed system displays an object shape correctly and that the high-speed measurement contributes to displaying smooth motion of an moving object.

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    ABSTRACT: In this paper, we describe high-speed 3D position and normal measurement of a specified point of interest using a high-speed projector-camera systems. A special cross line pattern is adaptively projected onto the point of interest and the reflected pattern on an object surface is captured by the camera and analyzed to obtain the position and normal information. The experimental results show that the estimated normal directions were apparently correct and stable except for occasional large errors due to instantaneous detection failures. Based on this measurement system, we describe a game system by which real-time interaction with non-structured 3D real environment is achieved.