A Color Image Texture Force Haptic Reproduction Method Based on Color Space Transformation

Abstract

The invention discloses a color image texture force tactile reproduction method based on a color transform space. The method comprises the following steps: a color information graph is acquired according to hue information and saturation information of a color image, and threshold segmentation is carried out on the color image based on the color information graph; three-dimensional profile recovery is carried out on the segmented regions by the method of shape from shading, a recovery result is compensated and adjusted with the use of the saturation component of the color image, and then a bilateral filtering algorithm is adopted to carry out de-noising; the obtained three-dimensional profile height maps of the two regions are mapped to different height layers of a virtual three-dimensional surface, and are spliced to obtain the three-dimensional profile height map of the color image; a virtual surface is drawn, and a force feedback model is constructed; and the obtained resultant force is calculated and fed back to an operator by a hand controller. According to the method, the shading distribution characteristic of the surface profile of an object formed under light and the intrinsic color distribution characteristic of the appearance image of the object are combined, surface texture feature information extraction, three-dimensional profile recovery and texture perceptivity feedback are carried out on the color image, the texture features of the color image can be fully reproduced, and the sense of reality of force tactile reproduction is improved.

Description

technical field [0001] The invention belongs to the field of haptic reproduction in virtual reality technology, and relates to a color image texture haptic reproduction method based on color space variation. Background technique [0002] With the wide application of virtual reality technology in surgical guidelines, teleoperated robot control, virtual manufacturing, etc., texture force / tactile reproduction has received more and more attention. The texture force / tactile reproduction technology feeds back the texture characteristics of the surface of the object to the operator through the feedback of the contact force when the object is touched, so as to realize the operator's perception and manipulation of the virtual object. [0003] The method based on image processing is currently a research hotspot in the field of texture force haptic reproduction. The image texture surface modeling method first uses the image processing algorithm to obtain the characteristic information...

AI Technical Summary

Problems solved by technology

The color image texture force tactile reproduction method based solely on grayscale processing makes the tactile properties of the virtual texture only related to the light and dark distribution formed by the change of the surface contour of the object under illumination, ignoring the essential color distribution characteristics and discarding the color characteristics of the appearance image of the object. Cannot provide comprehensive and effective texture information, resulting in distortion of force-haptic reproduction

Images