Meshless Visual and Haptic Interaction from a Real-Time Depth Image

Abstract

Recently, the technological advance of 3D depth sensors such as the Z-Cam[1] has made it possible to acquire a dynamic real object in real time(See Fig 1.(a)). The raw depth image is time-consuming to generate connectivity or pre-computed hierarchical data structure from the heavy data set in order to perform graphic and haptic interaction. In this paper, therefore, we propose mesh-less graphic and haptic rendering algorithm based on the point-based techniques by utilizing graphics hardware for providing efficient visualization and haptic interaction from a depth image acquired in real time.