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中文摘要：
针对图像纹理力／触觉再现技术中用灰度变化表征纹理所导致的彩色图像在灰度变换后丢失纹理信息的缺点，用颜色变化表征纹理，提出彩色图像的纹理力／触觉渲染方法．该方法中，切向力的计算基于像素力场算法，法向力的计算基于惩罚算法，根据颜色和空间感的心理学效应提出由亮度和色调决定约束空间，合力通过手控器反馈给操作者．实验结果表明，文中方法能够有效地对彩色图像纹理进行力／触觉渲染．
英文摘要：
In image-based haptic texture rendering methods, converting color an image to gray-scale in which the texture is defined as gray-scale variation usually leads to loss of texture information. In this paper, texture is defined as color variation and a method of haptic texture rendering color image is proposed. In the proposed method, lateral forces are computed by a pixel force field algorithm, normal forces are computed by a penalty-based haptic rendering method, and constraint space is determined by both value and hue according to color-space psychology effects. Resultant of forces is fed back to the users. Experimental results show the method is feasible to haptically texture render color images.
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