Real-time virtual haptization of an object surface measured by a high-speed projector-camera system
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.
- [show abstract] [hide abstract]
ABSTRACT: A 1,000-jps camera-projector system in which projected patterns are adoptively controlled according to image processing results is described. Adaptive structured light projection enables fast and efficient 3-D information acquisition. The prototype system is applied to the tracking of the nearest point of an object, and experimental results show that the system successfully tracked an apex of a fast-moving large! object.2007 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 2007), 18-23 June 2007, Minneapolis, Minnesota, USA; 01/2007
Conference Proceeding: Haptic interface for perceiving remote object using a laser range finder.[show abstract] [hide abstract]
ABSTRACT: This paper describes development of a haptic interface using a laser range finder. The system consists of a laser range finder, computer and a 1 degree-of-freedom haptic apparatus. The haptic apparatus can generate a reaction force based on a distance to a remote ob- ject that is measured by the laser range finder. A user can feel the shape of a remote object by holding this interface and pointing the object. Through an experiment, the effectiveness of this system was confirmed. Index Terms: H.5.1 (INFORMATION INTERFACES AND PRESENTATION): Multimedia Information Systems—Artificial, augmented, and virtual realities; H.5.2 (INFORMATION INTER- FACES AND PRESENTATION): User Interfaces—Haptic I/O; 1I NTRODUCTION In the real world, we usually touch real objects which are put on reachable area. However, we cannot touch real objects which are put on unreachable area in daily life. If status of remote objects can be measured in real time, we can feel a reaction force from the remote objects with a haptic inter- face. Meanwhile, the meanings of "unreachable objects" are not only they exist in distance, but also they exist in showcase or re- stricted area such as showpieces at science/ art museums. In addi- tion, we can feel a reaction force from dangerous objects such as high temperature objects by using some sensors and haptic appara- tus. This function can be helpful to understand the characteristics of the objects in educational situation. As related works, Iwata(1) has developed an augmented reality system named "Feel-through". It consists of a see-through HMD on which image of virtual objects are superimposed, and a haptic interface. The users can feel a reaction force from remote objects. However, it should be prepared shape and location data of real ob- jects before using the system. Nojima et al (5) have developed a haptic interface named "SmartTool". The interface is equipped with a proximity sensor at the end effector. It can detect the condition of people's affected part by using output data of the sensor and feeds back with a reaction force so that the user can notice the location of the dangerous part in an operation. Since the system uses a prox- imity sensor, the user cannot touch remote objects which are put on unreachable place. In this study, a haptic interface with a laser range finder is pro- posed. By using this interface, a user can feel a reaction force from remote objects, even though they exist inside of a showcase which is covered with a glass plate. A prototype system was developed. It consists of a 1 degree of freedom haptic apparatus and a laser range finder. The haptic apparatus can present a force to the tip of the user's thumb based on the distance data from the laser range finder. The effectiveness of this system was evaluated through an experiment.World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Salt Lake City, UT, USA, 18-20 March 2009; 01/2009
Conference Proceeding: 3,000-fps 3-D shape measurement using a high-speed camera-projector system[show abstract] [hide abstract]
ABSTRACT: This paper proposes a high frame rate 3-D shape measurement system based on structured light projection using temporally-coded binary patterns. This system consists of a DMD (digital micromirror device) projector and a high-speed camera, both of which operate at over 6,000 fps. Introducing an image processing algorithm of detecting and tracking the projected light patterns enables frame-by-frame 3-D image measurement. Experimental results show that the proposed algorithms worked effectively, and the system achieved 3-D imaging at 3,350 fps.Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on; 12/2007