APPARATUS AND METHOD FOR HAPTIC RENDERING USING LOCAL OCCUPANCY MAP INSTANCE, AND HAPTIC SYSTEM USING THEM

摘要

A haptic rendering apparatus and method using local occupancy map instance and a haptic system using the same are provided to detect a collision and calculate a reaction power by using partial feature information of an object so as to perform collision detection and reaction power calculation as a consistent method for a virtual object described as a various types of data. A haptic rendering apparatus and method using local occupancy map instance and a haptic system using the same include the following steps: a step to acquire a depth image of a virtual object, pixellate the depth image, and save the depth image in pixel buffer(S200); a step to detect whether or not HIP(Haptic Interaction Point) collides with the virtual object(S202); a step to generate LOMI(Local Occupancy Map Instance) comprised of a temporary and partial three-dimensional voxel including information about the virtual object on the center of an IHIP(Ideal Haptic Interaction Point)(S204); and a step to calculate a reaction power by using the difference between the HIP's vector in the LOMI and the IHIP's vector when the HIP collides with the virtual object(S206).