Proxy method for fast haptic rendering from time varying point clouds

Ryden, Fredrik; Kosari, Sina Nia; Chizeck, H.J.

doi:10.1109/iros.2011.6094673

“…It is widely accepted that point clouds are a convenient and efficient way to represent complex object surfaces. In [36][37][38][39], point cloudbased haptic rendering approaches are proposed to generate force signals directly from point cloud models of object surfaces. However, these approaches are proposed only for virtual environments.…”

Section: Model-mediated Teleoperationmentioning

confidence: 99%

“…Compared to the traditional mesh-based rendering process, the pcbHR method can directly compute the force signals without converting the point cloud into meshes, which reduces the computational complexity. Previous approaches for pcbHR for rigid objects are described in [36][37][38][39]. In order to apply a low-cost pcbHR method including friction rendering, a combination of the approach in [36,37] and the friction cone method in [40] is proposed in this work.…”

Section: G Point Cloud-based Force Renderingmentioning

confidence: 99%

Point Cloud-Based Model-Mediated Teleoperation With Dynamic and Perception-Based Model Updating

Xu

¹

,

Çizmeci

²

,

Al-Nuaimi

³

et al. 2014

IEEE Trans. Instrum. Meas.

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In this paper, we extend the concept of model-mediated teleoperation (MMT) for complex environments and six degrees of freedom interaction using point cloud surface models. In our system, a time-of-flight camera is used to capture a high resolution point cloud model of the object surface. The point cloud model and the physical properties of the object (stiffness and surface friction coefficient) are estimated at the slave side in real-time and transmitted to the master side using the modeling and updating algorithm proposed in this work. The proposed algorithm adaptively controls the updating of the point cloud model and the object properties according to the slave movements and by exploiting known limitations of human haptic perception. As a result, perceptually irrelevant transmissions are avoided, and thus the packet rate in the communication channel is substantially reduced. In addition, a simple point cloud-based haptic rendering algorithm is adopted to generate the force feedback signals directly from the point cloud model without first converting it into a 3D mesh. In the experimental evaluation, the system stability and transparency are verified in the presence of a round-trip communication delay of up to 1000ms. Furthermore, by exploiting the limits of human haptic perception the presented system allows for a significant haptic data reduction of about 90% for teleoperation systems with time delay. Index Termsmodel-mediated teleoperation, model-update, packet rate reduction, point cloud-based haptic rendering.

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“…It is widely accepted that point clouds are a convenient and efficient way to represent complex object surfaces. In [36][37][38][39], point cloudbased haptic rendering approaches are proposed to generate force signals directly from point cloud models of object surfaces. However, these approaches are proposed only for virtual environments.…”

Section: Model-mediated Teleoperationmentioning

confidence: 99%

“…Compared to the traditional mesh-based rendering process, the pcbHR method can directly compute the force signals without converting the point cloud into meshes, which reduces the computational complexity. Previous approaches for pcbHR for rigid objects are described in [36][37][38][39]. In order to apply a low-cost pcbHR method including friction rendering, a combination of the approach in [36,37] and the friction cone method in [40] is proposed in this work.…”

Section: G Point Cloud-based Force Renderingmentioning

confidence: 99%

See 1 more Smart Citation

Point-cloud-based model-mediated teleoperation

Xu

¹

,

Cizmeci

²

,

Steinbach

³

2013

2013 IEEE International Symposium on Haptic Audio Visual Environments and Games (HAVE)

View full text Add to dashboard Cite

In this paper, we extend the concept of model-mediated teleoperation (MMT) for complex environments and six degrees of freedom interaction using point cloud surface models. In our system, a time-of-flight camera is used to capture a high resolution point cloud model of the object surface. The point cloud model and the physical properties of the object (stiffness and surface friction coefficient) are estimated at the slave side in real-time and transmitted to the master side using the modeling and updating algorithm proposed in this work. The proposed algorithm adaptively controls the updating of the point cloud model and the object properties according to the slave movements and by exploiting known limitations of human haptic perception. As a result, perceptually irrelevant transmissions are avoided, and thus the packet rate in the communication channel is substantially reduced. In addition, a simple point cloud-based haptic rendering algorithm is adopted to generate the force feedback signals directly from the point cloud model without first converting it into a 3D mesh. In the experimental evaluation, the system stability and transparency are verified in the presence of a round-trip communication delay of up to 1000ms. Furthermore, by exploiting the limits of human haptic perception the presented system allows for a significant haptic data reduction of about 90% for teleoperation systems with time delay. Index Termsmodel-mediated teleoperation, model-update, packet rate reduction, point cloud-based haptic rendering.

show abstract

Robotics‐based telepresence using multi‐modal interaction for individuals with visual impairments

Park

¹

,

Howard

²

2014

Adaptive Control & Signal

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Although many assistive devices have been developed and utilized to aid in daily living, the most general assistive means for individuals with visual impairments are the walking cane and guide dogs. These assistive means are effective in assisting the user in navigating within an environment; however, the navigation space is limited to the proximal environment of the user. Thus, in this paper, we discuss a method to increase the range of accessibility to a remote environment through robotic embodiment that enables teleoperation and teleperception through multi-modal feedback. In order to transform remote spatial information into a nonvisual modality, we present a framework for utilizing an RGB-D-based depth camera, a mobile robot, and a haptic interface for 3D haptic rendering to accomplish the goal of haptic exploration of a remote environment. Experiments with three different control methods for robot interaction are designed for users with and without visual impairments. Several hypothesis are built to study the correlation between control/feedback modality and performance in telerobotic operations. Results show that users performed best when combining semi-autonomous navigation with 3D haptic exploration and also rated their experience with our system as fairly good.

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Proxy method for fast haptic rendering from time varying point clouds

Cited by 34 publications

References 10 publications

Point Cloud-Based Model-Mediated Teleoperation With Dynamic and Perception-Based Model Updating

Point Cloud-Based Model-Mediated Teleoperation With Dynamic and Perception-Based Model Updating

Point-cloud-based model-mediated teleoperation

Robotics‐based telepresence using multi‐modal interaction for individuals with visual impairments

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