基于SFS技术的纹理力触觉再现方法研究  

Research on the method of haptic texture display based on SFS

作　　者：李佳璐[1] 宋爱国[1] 吴涓[1] 张小瑞[1,2] 

机构地区：[1]东南大学仪器科学与工程学院远程测控技术江苏省重点实验室,南京210096 [2]南京信息工程大学信息与控制学院,南京210044

出　　处：《仪器仪表学报》2010年第4期812-817,共6页Chinese Journal of Scientific Instrument

基　　金：863计划(2006AA01Z329,2006AA04Z246,2009AA01Z311,2009AA01Z314);国家自然科学基金(60775057,60675047);教育部博士点新教师基金(200802861006)资助项目

摘　　要：虚拟现实技术中,纹理的力触觉表达通常需要提取纹理表面的高度轮廓特征,从而再现纹理的凹凸感,而图像纹理则反映的是纹理表面的二维灰度特征。提出了一种根据图像灰度信息恢复表面三维轮廓(shape from shading,SFS),并用于纹理的力触觉表达的方法。采用Tsai&Shah算法从二维纹理图像中恢复出表面三维微观形状,并用力触觉模型渲染。该方法无需专门仪器测量物体表面的微观轮廓,无需设计专用的纹理力触觉表达装置。实验表明该方法是可行的,并通过对实验结果的分析给出了改进方向。In virtual reality technology, haptic display of texture normally requires to extract three-dimensional contours of the surface to provide bump feeling, while texture image only reflects two-dimensional gray-scale surface texture characteristics. This paper proposes a new approach of haptic display of texture based on SFS （ shape from shading）. Firstly, three-dimenstonaal micro-shape of the surface is recovered from two-dimensional texture images using Tsai ＆ Shah algorithm, and then haptie render of the virtual surface is realized with the force rendering model. This method is independent of special instruments used to measure micro-contours and special texture haptic display devices. Experiments show that the method is feasible, and the directions of further improvement are given through the analysis of experimental results.

关 键 词：纹理再现 力触觉 虚拟现实 图像处理 由图像灰度恢复三维形状 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]