{"id":531,"date":"2013-04-24T02:14:19","date_gmt":"2013-04-24T09:14:19","guid":{"rendered":"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/?page_id=531"},"modified":"2013-06-10T18:32:31","modified_gmt":"2013-06-11T01:32:31","slug":"constraint-based-haptic-rendering-of-point-clouds","status":"publish","type":"page","link":"https:\/\/sr.stanford.edu\/?page_id=531","title":{"rendered":"Constraint-based Haptic Rendering of Point Clouds"},"content":{"rendered":"<p><!-- FIXME: the forbidden images  --><\/p>\n<h2>Project Description<\/h2>\n<p>We present a constraint-based haptic rendering algorithm for arbitrary point cloud data. With the recent proliferation of low-cost range sensors, 3D point cloud data is readily available at high update rates. Challenges in haptic rendering of this data arise due to noise and poorly defined surface composition. We propose that point cloud data can be rendered as an implicit surface, which can be formulated to be mathematically smooth and efficient for computing interaction forces. This method is resistant to sensor noise, makes no assumptions about surface connectivity or orientation, and has fast pre-processing suitable for streaming data from a sensor.<\/p>\n<p><a href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/wp-content\/uploads\/2013\/04\/sphere_and_bunny.jpg\"><img loading=\"lazy\" class=\"alignnone\" alt=\"sphere_and_bunny\" src=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/wp-content\/uploads\/2013\/04\/sphere_and_bunny-300x150.jpg\" width=\"300\" height=\"150\" \/><\/a><\/p>\n<h3>YouTube Video<\/h3>\n<p><iframe loading=\"lazy\" width=\"560\" height=\"315\" src=\"https:\/\/www.youtube.com\/embed\/ntbEErlLBl0?si=bjdfLQC6Gf4Ud2Gc\" title=\"YouTube video player\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/p>\n<h2><span style=\"color: #000000; font-weight: bold;\">Project Staff<\/span><\/h2>\n<ul>\n<li><a title=\"Sonny Chan\" href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/?page_id=633\">Sonny Chan<\/a><\/li>\n<li><a title=\"Adam Leeper\" href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/?page_id=659\">Adam Leeper<\/a><\/li>\n<li><a title=\"Reuben Brewer\" href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/?page_id=163\">Reuben Brewer<\/a><\/li>\n<\/ul>\n<h2>Status<\/h2>\n<p>Active since 2002.<\/p>\n<h2>Funding Sources<\/h2>\n<p>Funded through VA Grant.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Project Description We present a constraint-based haptic rendering algorithm for arbitrary point cloud data. With the recent proliferation of low-cost range sensors, 3D point cloud data is readily available at high update rates. Challenges in haptic rendering of this data arise due to noise and poorly defined surface composition. We propose that point cloud data &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"\" href=\"https:\/\/sr.stanford.edu\/?page_id=531\"> <span class=\"screen-reader-text\">Constraint-based Haptic Rendering of Point Clouds<\/span> Read More &raquo;<\/a><\/p>\n","protected":false},"author":3,"featured_media":0,"parent":525,"menu_order":0,"comment_status":"open","ping_status":"open","template":"","meta":[],"_links":{"self":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/531"}],"collection":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=531"}],"version-history":[{"count":15,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/531\/revisions"}],"predecessor-version":[{"id":2261,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/531\/revisions\/2261"}],"up":[{"embeddable":true,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/525"}],"wp:attachment":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=531"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}