Haptic Rendering of Oriented Point Cloud of Heritage Objects Using Proxy Projection

Abstract

In this paper, a novel method is proposed for rendering of a heritage object represented by an oriented, dense point cloud data without pre-computing a mesh structure. Collision of haptic interaction point (HIP) with the object is calculated using a point proxy which moves together with the HIP in space. Proxy position during collision with the point cloud is found by projecting the proxy point on the locally planar surface. A vector tangential to the surface is computed at the proxy point after projection in order to move the proxy on the surface of the object during collision. The reaction force for the haptic device is calculated by computing the penetration depth from proxy to the HIP. We substantiate the usefulness of the proposed technique by rendering several dense point cloud data and validating the rendering on known surfaces.