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Issue No.04 - October-December (2011 vol.4)
pp: 321-326
Dangxiao Wang , State Key Lab. of Virtual Reality Technol. & Syst., Beihang Univ., Beijing, China
Yuru Zhang , State Key Lab. of Virtual Reality Technol. & Syst., Beihang Univ., Beijing, China
Wanlin Zhou , State Key Lab. of Virtual Reality Technol. & Syst., Beihang Univ., Beijing, China
Hui Zhao , State Key Lab. of Virtual Reality Technol. & Syst., Beihang Univ., Beijing, China
Zhongyuan Chen , State Key Lab. of Virtual Reality Technol. & Syst., Beihang Univ., Beijing, China
ABSTRACT
Human resolution of collocation error between haptic and stereoscopic displays influences the design of visuo-haptic rendering algorithms, yet it is not well characterized. In the present study, we propose quantified metrics to measure the visuo-haptic collocation error and a prototype based on half-silvered mirror is established to validate the metrics. After defining collocation error in terms of the spatial correspondence between a tool and a surface, a mathematical model is derived that relates collocation error to the visual and haptic rendering modules within the computational pipeline. A calibration method consisting of Perspective Calibration (PC) and Model Calibration (MC) is then proposed to compensate for manufacturing and assembly tolerances. Based on measurement values by a precise measurement apparatus, i.e., the FARO Arm, parameters for the PC and MC were determined. System performance is evaluated by measuring the collocation error between a real handle and its visual avatar. The average collocation error was 1.8 mm within the XwYwOw plane, and the error never exceeded 7 mm within an 80 mm × 80 mm × 80 mm workspace.
INDEX TERMS
three-dimensional displays, avatars, calibration, haptic interfaces, performance evaluation, rendering (computer graphics), XwYwOw plane, collocation accuracy, visuo-haptic system, human resolution, haptic display, stereoscopic display, visuo-haptic rendering algorithms, quantified metrics, visuo-haptic collocation error, half-silvered mirror, spatial correspondence, mathematical model, visual rendering modules, haptic rendering modules, computational pipeline, calibration method, perspective calibration, PC, model calibration, MC, manufacturing tolerance, assembly tolerance, measurement values, precise measurement apparatus, FARO Arm, system performance, performanc evaluation, visual avatar, Haptic interfaces, Calibration, Data visualization, Transforms, Rendering (computer graphics), perspective calibration., Visuo-haptic system, spatial collocation error, collocation accuracy, model calibration
CITATION
Dangxiao Wang, Yuru Zhang, Wanlin Zhou, Hui Zhao, Zhongyuan Chen, "Collocation Accuracy of Visuo-Haptic System: Metrics and Calibration", IEEE Transactions on Haptics, vol.4, no. 4, pp. 321-326, October-December 2011, doi:10.1109/TOH.2011.17
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