Distance transformations in digital images
Computer Vision, Graphics, and Image Processing
I-COLLIDE: an interactive and exact collision detection system for large-scale environments
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
Adding force feedback to graphics systems: issues and solutions
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
V-Clip: fast and robust polyhedral collision detection
ACM Transactions on Graphics (TOG)
Six degree-of-freedom haptic rendering using voxel sampling
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Six degree-of-freedom haptic display of polygonal models
Proceedings of the conference on Visualization '00
Optimization-Based Virtual Surface Contact Manipulation at Force Control Rates
VR '00 Proceedings of the IEEE Virtual Reality 2000 Conference
Sensation preserving simplification for haptic rendering
ACM SIGGRAPH 2003 Papers
Efficient collision detection for animation and robotics
Efficient collision detection for animation and robotics
Transatlantic touch: a study of haptic collaboration over long distance
Presence: Teleoperators and Virtual Environments - Special issue: Advances in collaborative virtual environments
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Quasi-Static Approximation for 6 Degrees-of-Freedom Haptic Rendering
Proceedings of the 14th IEEE Visualization 2003 (VIS'03)
Accelerated haptic rendering of polygonal models through local descent
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
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An approach is presented for realizing an order-of-magnitude improvement in spatial accuracy for voxel-based 6-DOF haptics. It trades constant-time performance for greater spatial accuracy. This helps to make 6-DOF haptics applicable to extraordinarily complex real-world task simulations, which often admit no other known solution short of physical mockup. A reduction of haptic fidelity is tactically incurred but simultaneously mitigated by augmenting standard voxel-sampling methodology with distance fields, temporal coherence, and culling of redundant polyhedral surface interactions. This is applied to large-scale haptic scenarios involving multiple moving objects and to collaborative virtual environments.