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Method for reproducing texture force touch based on shape-from-shading technology

An image grayscale and shape recovery technology, applied in image data processing, 3D image processing, graphic reading, etc., can solve problems such as poor trend and depth expression, unrealistic three-dimensional surface contours, etc.

Inactive Publication Date: 2009-12-30
JIANGSU HONGBO MACHINERY MFG +1
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Problems solved by technology

But its shortcoming is that this method can only reproduce the roughness of the texture, but it is not effective in expressing the trend and depth of the real protrusions and depressions on the surface.
In this method, although the operator can effectively perceive the unevenness of the texture, because the mapping relationship between the three-dimensional height and the brightness of the image pixel is not based on the physical imaging principle, the restored three-dimensional contour of the surface is not real

Method used

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  • Method for reproducing texture force touch based on shape-from-shading technology
  • Method for reproducing texture force touch based on shape-from-shading technology
  • Method for reproducing texture force touch based on shape-from-shading technology

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Embodiment Construction

[0062] see figure 1 , in order to reproduce the tactile feeling of the image texture more realistically, the real texture image is firstly processed with normalized grayscale, and the three-dimensional information of the texture is extracted from the grayscale information of the image to reconstruct the virtual surface; the operator controls the virtual surface through the hand controller. The probe "gropes" on the virtual surface; then the force-tactile model is used to calculate the microscopic normal force and friction force of the contact point between the virtual probe and the virtual surface, and the resultant force of texture perception is fed back to the operator in real time by the hand controller.

[0063] see figure 2 , use the right-hand rule to construct a triangle with three points (i, j), (i+1, j+1), (i+1, j); then according to the right-hand rule, use (i, j) , (i, j+1), (i+1, j+1) construct another triangle, so that each discrete point can construct two trian...

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Abstract

The invention aims at the problem how to reproduce the force touch of image textures and provides a method for reproducing the texture force touch based on a shape-from-shading technology from grey scales of an image. The method is characterized by processing the grey scales of a texture image; extracting the micro three-dimensional contour information of the true textures from the grey scale information of the image to be drawn into a virtual surface; rendering the textures of the virtual surface by a force touch model; and outputting calculated force from a general manual controller to an operator. The invention has the advantages that the miniature contour of an object surface is needless to be measured by a special instrument, a special texture force touch expression device is needless to design, and the like and can be used in the fields for simulating virtual environments, controlling remotely-operated robots, browsing remote museums and online shops, simulating surgeries, and the like.

Description

technical field [0001] The present invention relates to force-tactile reproduction in virtual reality technology, in particular to a texture force-tactile reproduction method based on the technology of recovering shape from image grayscale, which reconstructs a three-dimensional virtual surface of the texture from a single texture image, and The invention discloses a method for performing force-tactile rendering on a virtual surface, belonging to the technical fields of computer vision, virtual reality technology and teleoperation robot. Background technique [0002] With the application of virtual reality technology in the fields of surgical simulation, teleoperated robot control, and virtual manufacturing, the importance of force-tactile information feedback for virtual operations has become increasingly significant. In the virtual reality system, the texture characteristics of the object surface are fed back to the operator through the haptic reproduction device, which ca...

Claims

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Application Information

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IPC IPC(8): G06F3/01G06T17/00G06T15/00
Inventor 宋爱国李佳璐吴涓张小瑞
Owner JIANGSU HONGBO MACHINERY MFG
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