Methods and Systems for Six Degree-of-Freedom Haptic Interaction with Streaming Point Data

摘要

Methods, articles of manufacture, and devices related to generating six degree of freedom (DOF) haptic feedback are provided. A computing device can receive first depth data about an environment. The computing device can generate a first plurality of points from the first depth data. The computing device can determine a virtual tool, where the virtual tool is specified in terms of a translation component for the virtual tool and a rotation component for the virtual tool. The computing device can determine a first force vector between the virtual tool and the first plurality of points. The computing device can send a first indication of haptic feedback based on the first force vector.

主权项

1. A method, comprising:
receiving first depth data about an environment at a computing device; generating a first plurality of points from the first depth data using the computing device; determining a virtual tool using the computing device, wherein the virtual tool is specified in terms of a translation component for the virtual tool and a rotation component for the virtual tool; determining a first force vector between the virtual tool and the first plurality of points using the computing device; and sending, from the computing device, a first indication of haptic feedback based on the first force vector.