Abstract:

Augmented reality is a hot topic in the field of human-computer interaction in recent years. Adding haptic perception in an augmented reality environment enables users to see and interact with virtual objects in real scenes. To achieve more natural interaction with virtual objects in the augmented reality environment, this paper proposes a three-dimensional registration algorithm for visual and haptic integration. Firstly, a three-dimensional registration matrix is obtained based on image vision technology, then the transformation relationship between the haptic space and the image space is solved based on the spatial transformation relationship, finally, the relationship between the two and the camera space is combined to realize the augmented reality interactive of visual and haptic integration. To verify the effectiveness of this method, an assembly robot project based on visuo-haptic augmented reality is designed. The users can touch and move virtual robot parts in the real environment, and can also feel force feedback when touching, making the interaction more realistic.

Key words: augmented reality, visual and haptic integration, haptic interaction, three-dimensional registration

摘要：

增强现实技术是近年来人机交互领域的研究热点。在增强现实环境下加入触觉感知，可使用户在真实场景中看到并感知到虚拟对象。为了实现增强现实环境下与虚拟对象之间更加自然的交互，提出一种视触觉融合的三维注册方法。基于图像视觉技术获得三维注册矩阵；借助空间转换关系求解出触觉空间与图像空间的转换关系；结合两者与摄像头空间的关系实现视触觉融合的增强现实交互场景。为验证该方法的有效性，设计了一个基于视触觉增强现实的组装机器人项目。用户可触摸并移动真实环境中的机器人零件，还能在触摸时感受到反馈力，使交互更具真实感。

关键词: 增强现实, 视触觉融合, 触觉交互, 三维注册