Data-driven modeling of human hand contact dynamics starts with a tedious process of data collection. The data of contact dynamics consist of an input describing an applied action and response stimuli from the environment. The quality and stability of the model mainly depend on how well data points cover the model space. Thus, in order to build a reliable data-driven model, a user usually collects data dozens of times. In this article, we aim to build an interactive system that assists a user in data collection. We develop an online segmentation framework that partitions a multivariate streaming signal. Real-time segmentation allows for tracking the process of how the model space is being populated. We applied the proposed framework for a haptic texture modeling use-case. In order to guide a user in data collection, we designed a user interface mapping applied input to alternative visual modalities based on the theory of direct perception. A combination of the segmentation framework and user interface implements a human-in-loop system, where the user interface assigns the target combination of input variables and the user tries to acquire them. Experimental results show that the proposed data collection schema considerably increases the approximation quality of the model, whereas the proposed user interface considerably reduces mental workload experienced during data collection.

Wireless capsule endoscopy (WCE) has become an important tool for gastrointestinal examination due to its non-invasive nature and minimal patient discomfort. However, the quality of WCE images is often limited by built-in lighting and the complex gastrointestinal environment, particularly in the region filled with small intestinal villi. Additionally, the morphology of these villi usually serves as a crucial indicator for related diseases. To address this, we propose a novel method to enhance the clarity of small intestinal villi in WCE images. Our method uses a guided filter to separate the low- and high-frequency components of WCE images. Illumination gain factors are calculated from the low-frequency components, while gradient gain factors are derived from Laplacian convolutions on different regions. These factors enhance the high-frequency components, combined with the original image. This approach improves edge detail while suppressing noise and avoiding edge overshoot, providing clearer images for diagnosis. Experimental results show that our proposed method achieved a 45.47% increase in PSNR compared to classical enhancement algorithms, a 12.63% improvement in IRMLE relative to the original images, and a 31.84% reduction in NIQE with respect to the original images.

In this paper, we propose a measurement-based modeling framework for hyper-elastic material identification and real-time haptic rendering. We build a custom data collection setup that captures shape deformation and response forces during compressive deformation of cylindrical material samples. We collected training and testing sets of data from four silicone objects having various material profiles. We design an objective function for material parameter identification by incorporating both shape deformation and reactive forces and utilize a genetic algorithm. We adopted an optimization-based Finite Element Method (FEM) for object deformation rendering. The numerical error of simulated forces was found to be perceptually negligible.

Mirror reflections and highlights are commonly observed in images captured by wireless capsule endoscopy (WCE), leading to image blurring or distortion, which increases the difficulty for doctors to observe and analyze gastrointestinal images. Existing methods fail to satisfactorily address specular highlights in the gastrointestinal tract, often resulting in loss of image details, texture blurring, or texture continuity errors. Therefore, we propose a highlight removal method for capsule endoscopy images. This approach enhances confidence term calculation in pixel prioritization by leveraging the ratio characteristics between the R channel and the B channel in the RGB color space of WCE images, enabling the evaluation of the repair possibility for each pixel. Furthermore, by dynamically adjusting the size of the sample block window based on variance and optimizing the selection of matching patches in the sample block window using RGB color channel distance and pixel distance, the accuracy of the best matching patch search is improved. Our extensive experimental results demonstrate that compared to the best-performing Criminisi method among existing traditional approaches, our method achieves reductions of 3.10% and 2.75% in standard deviation and coefficient of variation, respectively. Additionally, compared to the DeepGin method in deep learning, reductions of 4.22% and 10.50% are observed in these metrics, respectively. The regions after highlight removal and the surrounding regions near the highlights have more similar colors and continuous textures.

To address the issue of increased triangulation uncertainty caused by selecting views with small camera baselines in Structure from Motion (SFM) view selection, this paper proposes a robust error-resistant view selection method. The method utilizes a triangulation-based computation to obtain an error-resistant model, which is then used to construct an error-resistant matrix. The sorting results of each row in the error-resistant matrix determine the candidate view set for each view. By traversing the candidate view sets of all views and completing the missing views based on the error-resistant matrix, the integrity of 3D reconstruction is ensured. Experimental comparisons between this method and the exhaustive method with the highest accuracy in the COLMAP program are conducted in terms of average reprojection error and absolute trajectory error in the reconstruction results. The proposed method demonstrates an average reduction of 29.40% in reprojection error accuracy and 5.07% in absolute trajectory error on the TUM dataset and DTU dataset.