摘要： 传统基于图像特征的力反馈渲染算法在图像预处理降噪阶段容易丢失虚拟对象表面粗糙度信息。为此，提出一种改进的力反馈渲染算法。在快速矢量滤波器内置噪声检测器之前，增加一级基于图像边缘特征矢量的噪声检测器，以提高噪声检测准确率、保护图像边缘细节特征。实验结果表明，改进算法能够准确描述虚拟对象表面细微的粗糙度信息，实现更逼真的触觉与视觉融合的力反馈。

关键词: 力反馈渲染算法, 触觉纹理, 降噪, 开关型矢量滤波器, 快速矢量滤波器, 边缘特征矢量

Abstract: In the image pre-processing stage of noise reduction, traditional image feature-based haptic rendering algorithm exists the problem of losing surface roughness information of the virtual object. For this reason, this paper presents an improved haptic rendering algorithm. The improved algorithm adds a noise detector based on edge feature vector before building the noise detector in fast vector filter, which will further improve the accuracy of noise detection and better protect the edge features. Experimental result shows that the improved algorithm can better characterize the virtual object surface roughness subtle information and achieve more realistic integration of tactile and visual force feedback.

Key words: haptic rendering algorithm, haptic texture, denoising, switching vector filter, fast vector filter, edge feature vector

中图分类号: 

• TP911.73