Author:
Konstantinos Moustakas
Affiliation:
University of Patras, Greece
Keyword(s):
Haptic rendering, Collision detection, Implicit representation, Support plane mapping.
Related
Ontology
Subjects/Areas/Topics:
Advanced User Interfaces
;
Collision Detection
;
Computer Vision, Visualization and Computer Graphics
;
Interactive Environments
;
Non-Desktop Interfaces
Abstract:
This paper presents a haptic rendering scheme based on distance maps over implicit surfaces. Using the
successful concept of support planes and mappings, a support plane mapping formulation is used so as to generate
a convex conservative representation and efficiently perform collision detection. The proposed scheme
enables, under specific assumptions, the analytical reconstruction of the rigid 3D object’s surface, using the
equations of the support planes and their respective distance map. As a direct consequence, the problem of
calculating the force feedback can be analytically solved using only information about the 3D object’s spatial
trasnformation and position of the haptic probe. Moreover, several haptic effects are derived by the proposed
mesh-free haptic rendering formulation. Experimental evaluation and computational complexity analysis
demonstrates that the proposed approach can reduce significantly the computational cost when compared
to existing methods.