Analysis of registration accuracy for collocated haptic-visual display system

Consistency between haptic display and visual display is an important requirement to construct high fidelity virtual reality systems. Spatial registration method for accurate collocated haptic-visual display based on half-silvered mirror is proposed in this paper. The registration accuracy is defined to be the distance between the virtual avatar and the haptic interface point with regard to the human eye coordinate system. Spatial registration algorithm combined offline calibration module with online measurement module is proposed based on registration of human's eye camera with OpenGL camera. High precision FARO Arm is utilized to calibrate the external and internal parameters in haptic and visual coordination systems. Sensitivity of errors on the registration precision is analyzed and optimal eye position is determined. Three kinds of experiments are carried out to validate the registration accuracy qualitatively and quantitatively.