Haptic manipulation of 3D scans for geometric feature enhancement

Localisation of geometric features like holes, edges, slots, etc. is vital to robotic planning in industrial automation settings. Low-cost 3D scanners are crucial in terms of improving accessibility, but pose a practical challenge to feature localisation because of poorer resolution and consequently...

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Main Authors: Turlapati, Sri Harsha, Accoto, Dino, Campolo, Domenico
Other Authors: School of Mechanical and Aerospace Engineering
Format: Article
Language:English
Published: 2022
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Online Access:https://hdl.handle.net/10356/153927
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1539272022-06-06T02:41:04Z Haptic manipulation of 3D scans for geometric feature enhancement Turlapati, Sri Harsha Accoto, Dino Campolo, Domenico School of Mechanical and Aerospace Engineering Engineering::Mechanical engineering Human-Computer Interaction Virtual Environment Modelling Localisation of geometric features like holes, edges, slots, etc. is vital to robotic planning in industrial automation settings. Low-cost 3D scanners are crucial in terms of improving accessibility, but pose a practical challenge to feature localisation because of poorer resolution and consequently affect robotic planning. In this work, we address the possibility of enhancing the quality of a 3D scan by a manual 'touch-up' of task-relevant features, to ensure their automatic detection prior to automation. We propose a framework whereby the operator (i) has access to both the actual work-piece and its 3D scan; (ii) evaluates the missing salient features from the scan; (iii) uses a haptic stylus to physically interact with the actual work-piece, around such specific features; (iv) interactively updates the scan using the position and force information from the haptic stylus. The contribution of this work is the use of haptic mismatch for geometric update. Specifically, the geometry from the 3D scan is used to predict haptic feedback at a point on the work-piece surface. The haptic mismatch is derived as a measure of error between this prediction and the real interaction forces from physical contact at that point on the work-piece. The geometric update is driven until the haptic mismatch is minimised. Convergence of the proposed algorithm is first numerically verified on an analytical surface with simulated physical interaction. Error analysis of the surface position and orientations were also plotted. Experiments were conducted using a motion capture system providing sub-mm accuracy in position and a 6 axis F/T sensor. Missing features are successfully detected after the update of the scan using the proposed method in an experiment. Ministry of Education (MOE) Published version This work was partly supported by the MOE Tier1 grant (RG48/17), Singapore. 2022-06-06T02:41:04Z 2022-06-06T02:41:04Z 2021 Journal Article Turlapati, S. H., Accoto, D. & Campolo, D. (2021). Haptic manipulation of 3D scans for geometric feature enhancement. Sensors, 21(8), 2716-. https://dx.doi.org/10.3390/s21082716 1424-8220 https://hdl.handle.net/10356/153927 10.3390/s21082716 33921508 2-s2.0-85103897428 8 21 2716 en RG48/17 Sensors © 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Mechanical engineering
Human-Computer Interaction
Virtual Environment Modelling
spellingShingle Engineering::Mechanical engineering
Human-Computer Interaction
Virtual Environment Modelling
Turlapati, Sri Harsha
Accoto, Dino
Campolo, Domenico
Haptic manipulation of 3D scans for geometric feature enhancement
description Localisation of geometric features like holes, edges, slots, etc. is vital to robotic planning in industrial automation settings. Low-cost 3D scanners are crucial in terms of improving accessibility, but pose a practical challenge to feature localisation because of poorer resolution and consequently affect robotic planning. In this work, we address the possibility of enhancing the quality of a 3D scan by a manual 'touch-up' of task-relevant features, to ensure their automatic detection prior to automation. We propose a framework whereby the operator (i) has access to both the actual work-piece and its 3D scan; (ii) evaluates the missing salient features from the scan; (iii) uses a haptic stylus to physically interact with the actual work-piece, around such specific features; (iv) interactively updates the scan using the position and force information from the haptic stylus. The contribution of this work is the use of haptic mismatch for geometric update. Specifically, the geometry from the 3D scan is used to predict haptic feedback at a point on the work-piece surface. The haptic mismatch is derived as a measure of error between this prediction and the real interaction forces from physical contact at that point on the work-piece. The geometric update is driven until the haptic mismatch is minimised. Convergence of the proposed algorithm is first numerically verified on an analytical surface with simulated physical interaction. Error analysis of the surface position and orientations were also plotted. Experiments were conducted using a motion capture system providing sub-mm accuracy in position and a 6 axis F/T sensor. Missing features are successfully detected after the update of the scan using the proposed method in an experiment.
author2 School of Mechanical and Aerospace Engineering
author_facet School of Mechanical and Aerospace Engineering
Turlapati, Sri Harsha
Accoto, Dino
Campolo, Domenico
format Article
author Turlapati, Sri Harsha
Accoto, Dino
Campolo, Domenico
author_sort Turlapati, Sri Harsha
title Haptic manipulation of 3D scans for geometric feature enhancement
title_short Haptic manipulation of 3D scans for geometric feature enhancement
title_full Haptic manipulation of 3D scans for geometric feature enhancement
title_fullStr Haptic manipulation of 3D scans for geometric feature enhancement
title_full_unstemmed Haptic manipulation of 3D scans for geometric feature enhancement
title_sort haptic manipulation of 3d scans for geometric feature enhancement
publishDate 2022
url https://hdl.handle.net/10356/153927
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