基于增强现实的视触觉交互算法

Visuo-haptic interaction algorithm based on augmented reality

视触觉增强现实(VHAR)技术可在虚实结合的场景中实现力触觉交互。本文基于Geomagic Touch触觉设备提出了一种新的视触觉增强现实交互算法,以快速特征点提取和描述算法(ORB)与角点光流跟踪算法(KLT)算法搭建基于自然特征的增强现实环境,并以此为框架融入触觉反馈接口,实现视触觉协同反馈的交互环境。该算法首先对真实场景中的触控笔进行虚拟注册,然后基于触觉设备的前向运动模型,实现虚拟触控笔与真实触控笔的6-DOF协同运动;最后通过虚拟触控笔实现对虚拟物体的操控,实现了更加真实、自然的视触觉人机交互。实验结果表明,此方法具有良好的实时性、可行性和准确性。

Force-haptic interaction,through visuo-haptic augmented reality(VHAR)technology,could be achieved in scenes combining virtual and real.This paper,based on the Geomagic Touch haptic device,proposes a new visual and tactile augmented reality interaction algorithm.The ORB and KLT algorithms are used to build an augmented reality environment based on natural features,which is used as a framework to integrate the haptic feedback interface to realize an interactive environment of visuo-haptic collaborative feedback.The algorithm firstly carries out virtual registration for the stylus in the real scene,and then conducts the 6-DOF coordinated movement between the real and virtual styluses based on the forward motion model of the haptic device;finally,more real and natural visuo-haptic human-computer interaction is achieved in the manipulation of virtual objects by the virtual stylus.Experimental results show that this method is able to achieve good real-time performance,feasibility and accuracy.