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18
Enhancing GJK: Computing Minimum and Penetration Distances between Convex Polyhedra
 Proceedings of International Conference on Robotics and Automation
, 1997
"... The problem of tracking the distance between two convex polyhedra is finding applications in many areas of robotics, including intersection detection, collision detection, and path planning. We present new results that confirm an almostconstant time complexity for an enhanced version of Gilbert, Jo ..."
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Cited by 136 (5 self)
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The problem of tracking the distance between two convex polyhedra is finding applications in many areas of robotics, including intersection detection, collision detection, and path planning. We present new results that confirm an almostconstant time complexity for an enhanced version of Gilbert, Johnson and Keerthi's algorithm, and also describe modifications to the algorithm to compute measures of penetration distance.
Incremental algorithms for collision detection between solid models
 IEEE Transactions on Visualization and Computer Graphics
, 1995
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DEEP: Dualspace Expansion for Estimating Penetration depth between convex polytopes
 In IEEE Conference on Robotics and Automation
, 2002
"... We present an incremental algorithm to estimate the penetration depth between convex polytopes in 3D. The algorithm incrementally seeks a "locally optimal solution" by walking on the surface of the Minkowski sums. The surface of the Minkowski sums is computed implicitly by constructing a l ..."
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Cited by 28 (8 self)
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We present an incremental algorithm to estimate the penetration depth between convex polytopes in 3D. The algorithm incrementally seeks a "locally optimal solution" by walking on the surface of the Minkowski sums. The surface of the Minkowski sums is computed implicitly by constructing a local Gauss map. In practice, the algorithm works well when there is high motion coherence in the environment and is able to compute the optimal solution in most cases.
Penetration Depth of Two Convex Polytopes in 3D
 Nordic J. Computing
, 2000
"... with m and n facets, respectively. The penetration depth of A and B, denoted as (A; B), is the minimum distance by which A has to be translated so that A and B do not intersect. We present a randomized algorithm that computes (A; B) in O(m + m ) expected time, for any constant " & ..."
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Cited by 26 (2 self)
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with m and n facets, respectively. The penetration depth of A and B, denoted as (A; B), is the minimum distance by which A has to be translated so that A and B do not intersect. We present a randomized algorithm that computes (A; B) in O(m + m ) expected time, for any constant " > 0. It also computes a vector t such that ktk = (A; B) and int(A + t) \ B = ;. We show that if the Minkowski sum B ( A) has K facets, then the expected running time of our algorithm is O K , for any " > 0.
Haptic display of interaction between textured models
 Proceedings of IEEE Visualization Conference
, 2004
"... Surface texture is among the most salient haptic characteristics of objects; it can induce vibratory contact forces that lead to perception of roughness. In this paper, we present a new algorithm to display haptic texture information resulting from the interaction between two textured objects. We co ..."
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Cited by 23 (8 self)
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Surface texture is among the most salient haptic characteristics of objects; it can induce vibratory contact forces that lead to perception of roughness. In this paper, we present a new algorithm to display haptic texture information resulting from the interaction between two textured objects. We compute contact forces and torques using lowresolution geometric representations along with texture images that encode surface details. We also introduce a novel force model based on directional penetration depth and describe an efficient implementation on programmable graphics hardware that enables interactive haptic texture rendering of complex models. Our force model takes into account important factors identified by psychophysics studies and is able to haptically display interaction due to fine surface textures that previous algorithms do not capture.
Incremental penetration depth estimation between convex polytopes using dualspace expansion
 IEEE Transactions on Visualization and Computer Graphics
, 2004
"... ..."
Fast algorithms for penetration and contact determination between nonconvex polyhedral models
 Robotics and Automation, IEEE International Conference
, 1995
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Haptic rendering of interaction between textured objects
 in SIGGRAPH: Sketches and Applications
, 2004
"... Surface texture is among the most salient haptic characteristics of objects; it can induce vibratory contact forces that lead to perception of roughness. In this paper, we present a new algorithm to compute contact forces and torques between textured objects using lowresolution geometric representa ..."
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Cited by 4 (1 self)
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Surface texture is among the most salient haptic characteristics of objects; it can induce vibratory contact forces that lead to perception of roughness. In this paper, we present a new algorithm to compute contact forces and torques between textured objects using lowresolution geometric representations with texture images that encode surface details. We introduce a novel force model based on directional penetration depth and describe an efficient implementation on programmable graphics hardware that enables interactive haptic texture rendering of complex models. Our algorithm takes into account important factors identified by psychophysics studies and is able to haptically display interaction due to fine surface textures that existing algorithms do not capture.
Computing rotation distance between contacting polytopes
 IEEE International Conference on Robotics and Automation
, 1996
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