  In this work, we develop a multi-modal rendering framework comprising of
hapto-visual and auditory data. The prime focus is to haptically render point
cloud data representing virtual 3-D models of cultural significance and also to
handle their affine transformations. Cultural heritage objects could
potentially be very large and one may be required to render the object at
various scales of details. Further, surface effects such as texture and
friction are incorporated in order to provide a realistic haptic perception to
the users. Moreover, the proposed framework includes an appropriate sound
synthesis to bring out the acoustic properties of the object. It also includes
a graphical user interface with varied options such as choosing the desired
orientation of 3-D objects and selecting the desired level of spatial
resolution adaptively at runtime. A fast, point proxy-based haptic rendering
technique is proposed with proxy update loop running 100 times faster than the
required haptic update frequency of 1 kHz. The surface properties are
integrated in the system by applying a bilateral filter on the depth data of
the virtual 3-D models. Position dependent sound synthesis is incorporated with
the incorporation of appropriate audio clips.
