基于SFS技术的纹理力触觉再现方法研究

Research on the method of haptic texture display based on SFS

虚拟现实技术中,纹理的力触觉表达通常需要提取纹理表面的高度轮廓特征,从而再现纹理的凹凸感,而图像纹理则反映的是纹理表面的二维灰度特征。提出了一种根据图像灰度信息恢复表面三维轮廓(shape from shading,SFS),并用于纹理的力触觉表达的方法。采用Tsai&Shah算法从二维纹理图像中恢复出表面三维微观形状,并用力触觉模型渲染。该方法无需专门仪器测量物体表面的微观轮廓,无需设计专用的纹理力触觉表达装置。实验表明该方法是可行的,并通过对实验结果的分析给出了改进方向。

In virtual reality technology, haptic display of texture normally requires to extract three-dimensional contours of the surface to provide bump feeling, while texture image only reflects two-dimensional gray-scale surface texture characteristics. This paper proposes a new approach of haptic display of texture based on SFS （ shape from shading）. Firstly, three-dimenstonaal micro-shape of the surface is recovered from two-dimensional texture images using Tsai ＆ Shah algorithm, and then haptie render of the virtual surface is realized with the force rendering model. This method is independent of special instruments used to measure micro-contours and special texture haptic display devices. Experiments show that the method is feasible, and the directions of further improvement are given through the analysis of experimental results.