Haptic Vision - Vision-based Haptic Exploration

近年来，人们越来越需要触觉探索来估计和提取物理对象的属性，如质量，摩擦，弹性，功能等。在这项研究中，我们研究并提出了一种新的范式，我们称之为触觉视觉，这是一种基于视觉的触觉探索方法，旨在自动构建基于现实的虚拟空间模拟器，该方法通过观察与主动视觉和机器人手的“主动触摸”的相互作用，使用CCD照相机，距离和力反馈传感器。首先，我们获得的距离图像的多个视点观察，一个对象与主动视觉。接下来，将所获取的距离图像投影到3D体素空间上以生成对象的体积表示。然后分析关节对象的形状和稳定和功能位姿，以估计接触点和力，以提取物理对象属性，如质量，摩擦，弹性，功能等。之后，我们用机器人手进行“主动触摸”，将估计的接触力施加在估计的接触点上。最后，利用CCD摄像机、测距摄像机和力反馈传感器，通过主动视觉和主动触觉来提取和描述物体的物理特性。利用触觉视觉获得的三维物体模型可以为用户提供与虚拟环境中物体的基于现实的交互，以测试和提取物体的功能等物理特性，研究成果在IEEE或欧洲图形国际会议上发表，如ICRA，ICPR，VG等，并在IEICE期刊上发表。

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.