Texture force touch sensing method based on single image fractional order processing

Abstract

The invention discloses a texture force touch sensing method based on single image fractional order processing. The method includes the steps that a fractional differential algorithm is utilized, the order gamma of the fractional differential algorithm is adjusted dynamically, an enhanced texture image is obtained, original image texture information is extracted from the enhanced texture image, and multi-scale analysis of the detail texture and the edge contour of different rates of gray level changes is achieved from the point of image airspace gray level change features; force touch rendering is carried out on the virtual surface texture, and tangential force frictional damping coefficients of a force touch sensing model are controlled on the basis of gradient vector distribution of the enhanced texture image; obtained resultant force is calculated and fed back to an operator through a hand controller. By the utilization of sensibility of fractional differential to detail information, the sense of reality of texture force touch sensing is enhanced by manually selecting orders, extracting texture information in a two-dimensional image signal from different scales and converting the texture information into frictional damping control.

Description

technical field [0001] The invention belongs to the field of force-tactile reproduction in virtual reality technology, and relates to a texture force-tactile perception method based on fractional processing of a single image. Background technique [0002] With the wide application of virtual reality technology in surgical guidelines, teleoperated robot control, virtual manufacturing and other fields, the importance of force-tactile reproduction technology for virtual operations is becoming more and more significant. Force / tactile reproduction technology provides a unique way of human-computer interaction, which realizes two-way interaction between human and interactive system through tactile perception. His research mainly involves the generation and rendering of algorithms and tactile sensations of virtual objects, an area closely related to computer graphics and virtual reality technology. The force / haptic reproduction system provides users with a more natural and realist...

AI Technical Summary

Problems solved by technology

Although this method can effectively reproduce the unevenness of the geometric texture of the image target surface, because its height field model is established based on experience rather than based on the principle of object imaging, the restored three-dimensional surface profile is not real

In 2007, Wu Juan and Song Aiguo of Southeast University designed a Gaussian filter to spatially filter the image, using the high-frequency part as the textured surface, and applying Hooke's law and friction formula to calculate the effect of the virtual probe on the textured surface. force and friction, this method can only be the operator to perceive the edge of the image

[0011] Since the three-dimensional contour information and surface detail texture information contained in the objects in the real scene are mapped into the two-dimensional image during the imaging process, the traditional image-based texture force tactile reproduction technology does not distinguish these information, directly Force-tactile rendering of 2D images results in loss of detailed textures, misjudgment of contour recognition and texture perception results

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