Haptic rendering of variable density point cloud through local kernel bandwidth estimation

  • Authors:

  • K. G. Sreeni;Subhasis Chaudhuri

  • Affiliations:

  • Indian Institute of Technology, Mumbai;Indian Institute of Technology, Mumbai

  • Venue:
  • Proceedings of the Eighth Indian Conference on Computer Vision, Graphics and Image Processing
  • Year:
  • 2012

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Abstract

Haptic rendering of a point cloud data without a precomputed mesh structure is always a difficult problem. This paper tries to solve the problem of real time rendering a variable density 3D point cloud data as an optimization problem with a local kernel bandwidth estimation. In order to avoid the ambiguity of deciding the direction of reaction force while rendering the data we prefer a proxy based renderer. To avoid the proxy sinking into the object during collision the proxy point is always kept at minimum distance away from the object surface approximated by the point cloud. This minimum distance is computed during the rendering process depending on the local density of the points in the data using the kernel bandwidth estimation. Once collision is detected, we minimize a cost function depending on the current haptic interaction point (HIP) and proxy positions and find a new goal position for the proxy corresponding to the local minimum of the cost function. We validate the proposed technique by comparing the rendered force with the reaction force computed using a known spherical object.