Texture haptic reproduction method based on image gray scale recovery shape technology

Abstract

The invention discloses a texture haptic reproduction method based on image gray scale recovery shape technology. The method is characterized by comprising the following steps of 1, restoring a three-dimensional contour from a single image frame, performing color correction on acquisition equipment and acquiring color images in different angles by means of the acquisition equipment, fusing the color images, restoring a photographed image by means of a color restoring method based on polynomial regression, processing the images in different angles for obtaining gray scale images, and fusing the gray scale images; establishing a light reflection model; establishing an equation according to the gray scale and the light reflection model, and calculating the height of each point on the surface, and establishing a virtual surface triangular mesh model; and 2, performing haptic rendering on the virtual surface by means of a texture haptic model. The texture haptic reproduction method reduces a color image aberration and improves real feeling in haptic reproduction.

Description

technical field [0001] The invention relates to a texture force tactile reproduction method, in particular to a texture force tactile reproduction method based on image gray scale recovery shape technology. Background technique [0002] With the application of virtual reality technology in surgical simulation, teleoperated robot control, virtual manufacturing and other fields, the importance of haptic information feedback for virtual operation is becoming more and more significant. In the virtual reality system, through the haptic reproduction device, the surface texture characteristics of the object can be fed back to the operator, which can enhance the operator's sense of immersion and help improve the perception and manipulation of virtual objects. [0003] In virtual reality, the tactile expression of texture force usually needs to extract the height profile feature of the texture surface, that is, to obtain the height information of the texture surface concavity and con...

AI Technical Summary

Problems solved by technology

The color image texture force tactile reproduction method purely based on grayscale processing makes the virtual texture tactile properties only related to the light and dark distribution formed by the change of the surface contour of the object under illumination. These methods have high requirements for the color tone and brightness of the color image. Large chromatic aberration will lead to the inability to extract texture features from color texture images, resulting in distortion or even failure of force-tactile reproduction. Currently, color texture analysis is still in the exploratory stage

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