| 刘佳,钱昌宇,谢余磊,陈大鹏,郭斌.基于增强现实的视触觉交互算法[J].高技术通讯(中文),2021,31(9):910~924 |
| 基于增强现实的视触觉交互算法 |
| Visuo-haptic interaction algorithm based on augmented reality |
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| DOI：10.3772/j.issn.1002-0470.2021.09.002 |
| 中文关键词: 视触觉增强现实（VHAR）； 6-DOF； 空间转换； 真实交互 |
| 英文关键词: visuo-haptic augmented reality(VHAR) , 6-DOF, spatial transformation, real interaction |
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| 中文摘要: |
| 视触觉增强现实（VHAR）技术可在虚实结合的场景中实现力触觉交互。本文基于Geomagic Touch触觉设备提出了一种新的视触觉增强现实交互算法，以快速特征点提取和描述算法(ORB)与角点光流跟踪算法(KLT)算法搭建基于自然特征的增强现实环境，并以此为框架融入触觉反馈接口，实现视触觉协同反馈的交互环境。该算法首先对真实场景中的触控笔进行虚拟注册，然后基于触觉设备的前向运动模型，实现虚拟触控笔与真实触控笔的6-DOF协同运动；最后通过虚拟触控笔实现对虚拟物体的操控，实现了更加真实、自然的视触觉人机交互。实验结果表明，此方法具有良好的实时性、可行性和准确性。 |
| 英文摘要: |
| Force-haptic interaction, through visuo-haptic augmented reality (VHAR) technology, could be achieved in scenes combining virtual and real. This paper, based on the Geomagic Touch haptic device, proposes a new visual and tactile augmented reality interaction algorithm. The ORB and KLT algorithms are used to build an augmented reality environment based on natural features, which is used as a framework to integrate the haptic feedback interface to realize an interactive environment of visuo-haptic collaborative feedback.The algorithm firstly carries out virtual registration for the stylus in the real scene, and then conducts the 6-DOF coordinated movement between the real and virtual styluses based on the forward motion model of the haptic device; finally, more real and natural visuo-haptic human-computer interaction is achieved in the manipulation of virtual objects by the virtual stylus. Experimental results show that this method is able to achieve good real-time performance, feasibility and accuracy. |
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