Interactive Scanning of Haptic Textures and Surface Compliance

In modern computer graphics, 3D scanning is common practise for the acquisition of the geometry of objects. However, in addition to geometric models, physical models of interaction behaviour are required for the realistic representation of objects in arbitrary environments. In this paper, we introduce a hand-held scanning approach for the acquisition of physical surface texture (roughness) of real- world 3D objects. Our system utilizes a low-cost mobile touch probe and image-based tracking to allow an operator to interactively scan a real-world object and generate estimates of surface texture and compliance. These scans can be integrated into the 3D scanning pipeline, just as colour imagery can be included into the pipeline for the acquisition of visual texture. We demonstrate that the acquired surface properties are of sufficient quality to allow for haptic display of the scanned object.

[1]  Allison M. Okamura,et al.  Reality-based models for vibration feedback in virtual environments , 2001 .

[2]  H. Pongrac,et al.  Vibrotactile Perception: Differential Effects of Frequency, Amplitude, and Acceleration , 2006, 2006 IEEE International Workshop on Haptic Audio Visual Environments and their Applications (HAVE 2006).

[3]  Holly E. Rushmeier,et al.  The 3D Model Acquisition Pipeline , 2002, Comput. Graph. Forum.

[4]  R. Klatzky,et al.  Tactile roughness perception with a rigid link interposed between skin and surface , 1999, Perception & psychophysics.

[5]  R. S. Fearing,et al.  Tactile Sensing Mechanisms , 1990, Int. J. Robotics Res..

[6]  Kenneth E. Barner,et al.  Stochastic and Deterministic Models for Haptic Pseudo-Textures , 2006, 2006 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[7]  Lucy Y. Pao,et al.  Rate-hardness: a new performance metric for haptic interfaces , 2000, IEEE Trans. Robotics Autom..

[8]  Vincent Hayward,et al.  Tactile Display Device Using Distributed Lateral Skin Stretch , 2000, Dynamic Systems and Control: Volume 2.

[9]  V. Maheshwari,et al.  High-Resolution Thin-Film Device to Sense Texture by Touch , 2006, Science.

[10]  Hong Z. Tan,et al.  Toward realistic haptic rendering of surface textures , 2004, IEEE Computer Graphics and Applications.

[11]  Marc Levoy,et al.  Real-time 3D model acquisition , 2002, ACM Trans. Graph..

[12]  Jean-Daniel Deschênes,et al.  Multiresolution interactive modeling with efficient visualization , 2005, Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM'05).

[13]  Dinesh K. Pai,et al.  The WHaT: a wireless haptic texture sensor , 2003, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings..

[14]  Dinesh K. Pai,et al.  Scanning physical interaction behavior of 3D objects , 2001, SIGGRAPH.

[15]  Susan J. Lederman,et al.  Computational haptics: the sandpaper system for synthesizing texture for a force-feedback display , 1995 .

[16]  A. Kappers,et al.  Analysis of haptic perception of materials by multidimensional scaling and physical measurements of roughness and compressibility. , 2006, Acta psychologica.

[17]  Voicu Popescu,et al.  The ModelCamera: a hand-held device for interactive modeling , 2003, Fourth International Conference on 3-D Digital Imaging and Modeling, 2003. 3DIM 2003. Proceedings..

[18]  S. Wall,et al.  Modelling of Surface Identifying Characteristics Using Fourier Series , 1999, Dynamic Systems and Control.

[19]  Cagatay Basdogan,et al.  A Ray-Based Haptic Rendering Technique for Displaying Shape and Texture of 3D Objects in Virtual Environments , 1997, Dynamic Systems and Control.

[20]  Dinesh K. Pai,et al.  Interaction capture and synthesis , 2005, ACM Trans. Graph..

[21]  Mark Holliins,et al.  Perceptual dimensions of tactile surface texture: A multidimensional scaling analysis , 1993, Perception & psychophysics.

[22]  Hong Z. Tan,et al.  Discrimination of Real and Virtual High-Definition Textured Surfaces , 2006, 2006 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[23]  Dinesh K. Pai,et al.  Haptic texturing-a stochastic approach , 1996, Proceedings of IEEE International Conference on Robotics and Automation.