Data for: Haptic Manipulation of 3D Scans for Geometric Feature Enhancement (Refining 3D scan of a surface by manual haptic exploration)

Object localisation, shape estimation, feature detection are important sub-tasks in overarching applications like industrial tooling, assembly, manufacturing and re-manufacturing which might require robotic automation through manipulation. 3D vision techniques provide robust solutions but fall short in capturing all types of 3D features. This work details a novel haptic framework that allows to refine a 3D scan of a surface using actual forces recorded by virtue of haptic feedback due to surface tool interaction. The current work is limited to interaction with rigid objects using pen-like end-effectors. The proposed framework is presented qualitatively followed by the experimental implementation for human-surface interaction. A 3D scan of a surface is obtained as a polygonal mesh and haptic exploration is performed to adapt the mesh to capture the geometry of absent features like holes and edges. Finally, conclusions from this work are drawn and future work is discussed.