OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Adding force feedback to graphics systems: issues and solutions
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Primitives for the manipulation of general subdivisions and the computation of Voronoi
ACM Transactions on Graphics (TOG)
Large haptic topographic maps: marsview and the proxy graph algorithm
I3D '03 Proceedings of the 2003 symposium on Interactive 3D graphics
Dynamic Local Models for Stable Multi-Contact Haptic Interaction with Deformable Objects
HAPTICS '03 Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'03)
Realistic Haptic Rendering for Highly Deformable Virtual Objects
VR '01 Proceedings of the Virtual Reality 2001 Conference (VR'01)
Intermediate representation for stiff virtual objects
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
A constraint-based god-object method for haptic display
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Six-degree-of-freedom haptic rendering using incremental and localized computations
Presence: Teleoperators and Virtual Environments
Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects
Presence: Teleoperators and Virtual Environments
A polyhedron representation for computer vision
AFIPS '75 Proceedings of the May 19-22, 1975, national computer conference and exposition
Local Model of Interaction for Haptic Manipulation of Rigid Virtual Worlds
International Journal of Robotics Research
Shadow-Driven 4D Haptic Visualization
IEEE Transactions on Visualization and Computer Graphics
Haptic rendering of complex objects via directional sampling
VRCAI '08 Proceedings of The 7th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry
Vision-based hand interaction and its application in pervasive games
Proceedings of the 8th International Conference on Virtual Reality Continuum and its Applications in Industry
Haptic exploration of mathematical knots
ISVC'07 Proceedings of the 3rd international conference on Advances in visual computing - Volume Part I
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Haptic rendering of large and detailed virtual objects can require a significant computational load. Built out of a vast number of primitives, the object models can strain algorithms such as collision detection and constrained optimization, which are widely used in haptics applications. Nevertheless, to provide the necessary fidelity, haptic servo loops need to operate at 1 kHz or above. Separating the haptic processes from the more time consuming processes has long been a standard technique to protect more sensitive servo loops from the computational burden of collision detection and graphic display. In addition, local approximation techniques have been developed to allow fast update rates on small areas of the overall model around a known contact point. Operations on the complete model are only executed at a much slower rate. However, none of the existing methods fully exploit the model's topological information. We propose the use of the Quadedge data structure to store the object model in addition to a hierarchical data structure used in collision detection. The compact, edgebased graph structure provides a topological map and the necessary tools to navigate easily along the model's surface. Also, we propose to use a velocity vector as an indicator of the intended user's motion. Such information leads to the prediction of the user's position within a short time frame. The proposed methods allow us to efficiently build local intermediate models based on predictions of the contact point movement.