Haptic Vision - Vision-based Haptic Exploration

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Recently, there are growing needs for haptic exploration to estimate and extract physical object properties such as mass, friction, elasticity, function etc. In this research, we studied and proposed a novel paradigum, we call haptic vision, which is vision-based haptic exploration approach toward an automatic construction of reality-based virtual space simulator, by augmenting active vision with active touch.The method automatically extracts and describes both geometrical and physical properties of an object, through the observation of interactions with active vision and "active touch" by a robot hand, using a CCD camera, range and force-feedback sensors.First, we obtain range images of multiple viewpoints by observing, an object with active vision. Next, project the acquired range images onto the 3D voxel space to generate volume representation of the object. Then analyze the shape and stable and functional pose of the articulated object to estimate a contact points and force in order to extract physical object properties such as mass, friction, elasticity, function etc.After that, we make "active touch" with a robot hand to exert the estimated contact force on the estimated contact points. We finally extract and describe the objective physical properties with active vision and active touch using a CCD camera, a range camera and force feed-back sensors.3D object models obtained with haptic vision can provide users with reality-based interactions with the objects in virtual environments, to test and extract physical properties such as functions, parts motions and linking structures etc.Research Results were presented in IEEE or Eurographics Int.Confs, such as ICRA,I CPR, VG etc.and also publised in IEICE Journals.