The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Haptic Interaction with Objects Displayed in a Picture based on Surface Normal Estimation

사진 속 피사체의 법선 벡터 예측에 기반한 햅틱 상호 작용

  • Received : 2013.06.03
  • Accepted : 2013.07.29
  • Published : 2013.08.31
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Abstract

In this paper we propose a haptic interaction system that physically represents the underlying geometry of objects displayed in a 2D picture, i.e., a digital image. To obtain the object's geometry displayed in the picture, we estimate the physical transformation between the object plane and the image plane based on homographic information. We then calculate the rotated surface normal vector of the object's face and place it on the corresponding part in the 2D image. The purpose of this setup is to create a force that can be rendered along with the image without distorting the visual information. We evaluated the proposed haptic rendering system using a set of pictures of objects with different orientations. The experimental results show that the participants reliably identified the geometric configuration by touching the object in the picture. We conclude this paper with a set of applications.

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