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tangible -> real

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Erwan Normand
2024-10-12 15:24:56 +02:00
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10
2-perception/vhar-system/2-method.tex
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@@ -1,6 +1,6 @@
%With a vibrotactile actuator attached to a hand-held device or directly on the finger, it is possible to simulate virtual haptic sensations as vibrations, such as texture, friction or contact vibrations \cite{culbertson2018haptics}.
%
%We describe a system for rendering vibrotactile roughness textures in real time, on any tangible surface, touched directly with the index fingertip, with no constraints on hand movement and using a simple camera to track the finger pose.
%We describe a system for rendering vibrotactile roughness textures in real time, on any real surface, touched directly with the index fingertip, with no constraints on hand movement and using a simple camera to track the finger pose.
%
%We also describe how to pair this tactile rendering with an immersive \AR or \VR headset visual display to provide a coherent, multimodal visuo-haptic augmentation of the \RE.
@@ -18,7 +18,7 @@ The visuo-haptic texture rendering system is based on:
The system consists of three main components: the pose estimation of the tracked real elements, the visual rendering of the \VE, and the vibrotactile signal generation and rendering.
\figwide[1]{diagram}{Diagram of the visuo-haptic texture rendering system. }[
Fiducial markers attached to the voice-coil actuator and to tangible surfaces to track are captured by a camera.
Fiducial markers attached to the voice-coil actuator and to augmented surfaces to track are captured by a camera.
The positions and rotations (the poses) ${}^c\mathbf{T}_i$, $i=1..n$ of the $n$ defined markers in the camera frame $\mathcal{F}_c$ are estimated, then filtered with an adaptive low-pass filter.
%These poses are transformed to the \AR/\VR headset frame $\mathcal{F}_h$ and applied to the virtual model replicas to display them superimposed and aligned with the \RE.
These poses are used to move and display the virtual model replicas aligned with the \RE.
@@ -36,8 +36,8 @@ The system consists of three main components: the pose estimation of the tracked
\label{pose_estimation}
A \qty{2}{\cm} AprilTag fiducial marker \cite{wang2016apriltag} is glued to the top of the actuator (\figref{device}) to track the finger pose with a camera (StreamCam, Logitech) which is placed above the experimental setup and capturing \qtyproduct{1280 x 720}{px} images at \qty{60}{\hertz} (\figref{apparatus}).
Other markers are placed on the tangible surfaces to augment (\figref{setup}) to estimate the relative position of the finger with respect to the surfaces.
Contrary to similar work using vision-based tracking allows both to free the hand movements and to augment any tangible surface.
Other markers are placed on the real surfaces to augment (\figref{setup}) to estimate the relative position of the finger with respect to the surfaces.
Contrary to similar work using vision-based tracking allows both to free the hand movements and to augment any real surface.
A camera external to the \AR headset with a marker-based technique is employed to provide accurate and robust tracking with a constant view of the markers \cite{marchand2016pose}.
We denote ${}^c\mathbf{T}_i$, $i=1..n$ the homogenous transformation matrix that defines the position and rotation of the $i$-th marker out of the $n$ defined markers in the camera frame $\mathcal{F}_c$, \eg the finger pose ${}^c\mathbf{T}_f$ and the texture pose ${}^c\mathbf{T}_t$.
@@ -51,7 +51,7 @@ The velocity (without angular velocity) of the marker, denoted as ${}^c\dot{\mat
%To be able to compare virtual and augmented realities, we then create a \VE that closely replicate the real one.
Before a user interacts with the system, it is necessary to design a \VE that will be registered with the \RE during the experiment.
Each real element tracked by a marker is modelled virtually, \eg the hand and the augmented tangible surface (\figref{device}).
Each real element tracked by a marker is modelled virtually, \eg the hand and the augmented surface (\figref{device}).
In addition, the pose and size of the virtual textures were defined on the virtual replicas.
During the experiment, the system uses marker pose estimates to align the virtual models with their real-world counterparts. %, according to the condition being tested.
This allows to detect if a finger touches a virtual texture using a collision detection algorithm (Nvidia PhysX), and to show the virtual elements and textures in real-time, aligned with the \RE, using the considered \AR or \VR headset.