DocumentCode :
1799436
Title :
Towards real-time modeling and haptic rendering of deformable objects for point cloud-based Model-Mediated Teleoperation
Author :
Xiao Xu ; Steinbach, Eckehard
Author_Institution :
Inst. for Media Technol., Tech. Univ. Munchen, Munich, Germany
fYear :
2014
fDate :
14-18 July 2014
Firstpage :
1
Lastpage :
6
Abstract :
We propose a novel radial function-based deformation (RFBD) approach to enable real-time modeling and haptic rendering of deformable objects for point cloud-based Model-Mediated Teleoperation (pcbMMT). In the pcbMMT system, a time-of-flight camera is employed on the slave side to capture a 3D point cloud model of the remote environment. This environment model is transmitted to the master along with the estimated model parameters, including the dynamics of the object´s surface deformation and the physical properties such as the stiffness, friction coefficient, etc. Due to the simplicity of the RFBD approach, the model parameters of the remote environment can be obtained in real time. On the master side, a local copy of the environment model is maintained according to the received parameters. Both the haptic rendering and deformation simulation are based on this local model, running at 1kHz. Thus, a good compromise is achieved between the model accuracy and the computational time for online parameter identification. Experiments verify the feasibility of the proposed approach, and show the results of the object deformation for different model parameters.
Keywords :
control engineering computing; force feedback; haptic interfaces; rendering (computer graphics); telerobotics; RFBD; deformable objects; haptic feedback; haptic rendering; model parameters; pcbMMT; point cloud-based model-mediated teleoperation; radial function-based deformation; real-time modelling; Computational modeling; Deformable models; Force; Friction; Haptic interfaces; Rendering (computer graphics); Three-dimensional displays; model-mediated teleoperation; point cloud model; radial function-based deformation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Multimedia and Expo Workshops (ICMEW), 2014 IEEE International Conference on
Conference_Location :
Chengdu
ISSN :
1945-7871
Type :
conf
DOI :
10.1109/ICMEW.2014.6890578
Filename :
6890578
Link To Document :
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