ClonAR: Rapid redesign of real-world objects

ClonAR enables users to rapidly clone and edit real-world objects. First, real-world objects can be scanned using KinectFusion. Second, users can edit the scanned objects in our visuo-haptic Augmented Reality environment. Our whole pipeline does not use mesh representation of objects, but rather Signed Distance Fields, which are the output of KinectFusion. We directly render Signed Distance Fields haptically and visually. We do direct haptic rendering of Signed Distance Fields, which is faster and more flexible than rendering meshes. Visual rendering is performed by our custom-built raymarcher, which facilitates realistic illumination effects like ambient occlusions and soft shadows. Our prototype demonstrates the whole pipeline. We further present several results of redesigned real-world objects.