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Haptic Manipulation of 3D Scans for Geometric Feature Enhancement.

Sri Harsha Turlapati1, Dino Accoto1, Domenico Campolo1

  • 1School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore.

Sensors (Basel, Switzerland)
|April 30, 2021
PubMed
Summary

This study introduces a haptic feedback system to improve 3D scan quality for robotic planning. By using physical touch to correct scan inaccuracies, it enhances feature localization for industrial automation.

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Area of Science:

  • Robotics
  • Computer Vision
  • Human-Computer Interaction

Background:

  • Accurate geometric feature localization is essential for robotic planning in industrial automation.
  • Low-cost 3D scanners offer accessibility but often lack the resolution for reliable feature detection.
  • This limitation impacts the effectiveness of automated robotic systems.

Purpose of the Study:

  • To enhance the quality of 3D scans from low-cost scanners by incorporating manual 'touch-up' of task-relevant features.
  • To ensure reliable automatic detection of geometric features for improved robotic planning.
  • To propose a framework for interactive scan updating using haptic feedback.

Main Methods:

  • An operator uses a haptic stylus to interact with a physical workpiece and its 3D scan.
Keywords:
active perceptionhuman-computer interactionmanufacturing/assemblymultimodal sensor fusionvirtual environment modelling

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  • Missing features are identified, and the operator physically touches the workpiece around these features.
  • Position and force data from the haptic stylus are used to interactively update the 3D scan.
  • The core contribution is using 'haptic mismatch' for geometric updates, minimizing the error between predicted and actual forces.

    • Main Results:

    • The proposed framework successfully enhances 3D scan quality by incorporating haptic feedback for geometric updates.
    • Numerical verification demonstrated the algorithm's convergence on an analytical surface.
    • Experiments using a high-accuracy motion capture system confirmed successful detection of missing features after scan updates.

    Conclusions:

    • The haptic-guided scan enhancement method effectively improves the localization of geometric features for industrial automation.
    • This approach addresses the limitations of low-cost 3D scanners, enabling more robust robotic planning.
    • The use of haptic mismatch provides a novel and effective mechanism for interactive geometric correction.