Background By integrating visual stimuli with perceived tactile sensation, mixed-reality haptic devices provide a critical dimension to otherwise intangible virtual content. Much of the commercial and academic efforts in this domain have focused on delivering simulated interactions with rigid objects, often through the use of vibrotactile gloves, robotic...

Background Light estimation is a critical component for realistic rendering of virtual scenes. For mixed-reality, a merging of virtual and physical worlds, accurate light estimation is especially important; inconsistencies in shadow and highlight rendering between the two domains are particularly noticeable, diminishing the intended immersive experience...