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Collocation Accuracy of Visuo-Haptic System: Metrics and Calibration
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ISSN: 1939-1412
| ASCII Text | x | ||
| Dangxiao Wang, Yuru Zhang, Wanlin Zhou, Hui Zhao, Zhongyuan Chen, "Collocation Accuracy of Visuo-Haptic System: Metrics and Calibration," IEEE Transactions on Haptics, vol. 99, no. 1, pp. , , 5555. | |||
| BibTex | x | ||
| @article{ 10.1109/TOH.2011.37, author = {Dangxiao Wang and Yuru Zhang and Wanlin Zhou and Hui Zhao and Zhongyuan Chen}, title = {Collocation Accuracy of Visuo-Haptic System: Metrics and Calibration}, journal ={IEEE Transactions on Haptics}, volume = {99}, number = {1}, issn = {1939-1412}, year = {5555}, doi = {http://doi.ieeecomputersociety.org/10.1109/TOH.2011.37}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, } | |||
| RefWorks Procite/RefMan/Endnote | x | ||
| TY - JOUR JO - IEEE Transactions on Haptics TI - Collocation Accuracy of Visuo-Haptic System: Metrics and Calibration IS - 1 SN - 1939-1412 SP EP EPD - A1 - Dangxiao Wang, A1 - Yuru Zhang, A1 - Wanlin Zhou, A1 - Hui Zhao, A1 - Zhongyuan Chen, PY - 5555 KW - Hardware and software that enable touch-based interactions with real KW - remote KW - and virtual environments KW - Medical simulation KW - Multimodal systems KW - Graphic rendering VL - 99 JA - IEEE Transactions on Haptics ER - | |||
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/TOH.2011.37
Web Extra: View Supplemental Material(WMV)
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 relate 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 1.8mm within the XwYwOw plane, and the error never exceeded 7mm within an 80�?80�?80mm workspace.
Index Terms:
Hardware and software that enable touch-based interactions with real, remote, and virtual environments, Medical simulation, Multimodal systems, Graphic rendering
Citation:
Dangxiao Wang, Yuru Zhang, Wanlin Zhou, Hui Zhao, Zhongyuan Chen, "Collocation Accuracy of Visuo-Haptic System: Metrics and Calibration," IEEE Transactions on Haptics, 14 July 2011. IEEE computer Society Digital Library. IEEE Computer Society, <http://doi.ieeecomputersociety.org/10.1109/TOH.2011.37>
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