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42
Rapid Collision Detection by Dynamically Aligned DOPTrees
 In Proc. of IEEE Virtual Reality Annual International Symposium; VRAIS ’98
, 1998
"... Based on a general hierarchical data structure, we present a fast algorithm for exact collision detection of arbitrary polygonal rigid objects. Objects consisting of hundreds of thousands of polygons can be checked for collision at interactive rates. ..."
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Cited by 62 (20 self)
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Based on a general hierarchical data structure, we present a fast algorithm for exact collision detection of arbitrary polygonal rigid objects. Objects consisting of hundreds of thousands of polygons can be checked for collision at interactive rates.
The HUMANOID Environment for Interactive Animation of Multiple Deformable Human Characters
 Proceedings of Eurographics '95
, 1995
"... We describe the HUMANOID environment dedicated to human modeling and animation for general multimedia, VR, and CAD applications integrating virtual humans. We present the design of the system and the integration of the various features: generic modeling of a large class of entities with the BODY dat ..."
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Cited by 59 (41 self)
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We describe the HUMANOID environment dedicated to human modeling and animation for general multimedia, VR, and CAD applications integrating virtual humans. We present the design of the system and the integration of the various features: generic modeling of a large class of entities with the BODY data structure, realistic skin deformation for body and hands, facial animation, collision detection, integrated motion control and parallelization of computation intensive tasks.
Fast continuous collision detection between rigid bodies
 Proc. of Eurographics (Computer Graphics Forum
, 2002
"... This paper introduces a fast continuous collision detection technique for polyhedral rigid bodies. As opposed to most collision detection techniques, the computation of the first contact time between two objects is inherently part of the algorithm. The method can thus robustly prevent objects interp ..."
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Cited by 49 (10 self)
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This paper introduces a fast continuous collision detection technique for polyhedral rigid bodies. As opposed to most collision detection techniques, the computation of the first contact time between two objects is inherently part of the algorithm. The method can thus robustly prevent objects interpenetrations or collisions misses, even when objects are thin or have large velocities. The method is valid for general objects (polygon soups), handles multiple moving objects and acyclic articulated bodies, and is efficient in low and high coherency situations. Moreover, the method can be used to speed up existent continuous collision detection methods for parametric or implicit rigid surfaces. The collision detection algorithms have been successfully coupled to a realtime dynamics simulator. Various experiments are conducted that show the method’s ability to produce highquality interaction (precise objects positioning for example) between models up to tens of thousands of triangles, which couldn’t have been performed with previous continuous methods. Categories and Subject Descriptors (according to ACM CCS): I.3.7 [Computer Graphics]: Animation Virtual Reality 1.
Collision Detection: Algorithms and Applications
, 1996
"... this paper, we address the first two elements by presenting general a purpose collision detection and contact area determination algorithm for simulations. The collision response is application dependent. The algorithm reports the contact area and thus enables the application to compute an appropria ..."
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Cited by 48 (1 self)
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this paper, we address the first two elements by presenting general a purpose collision detection and contact area determination algorithm for simulations. The collision response is application dependent. The algorithm reports the contact area and thus enables the application to compute an appropriate response. Our algorithm not only addresses interaction between a pair of general polygonal objects, but also large environments consisting of hundreds of moving parts, such as those encountered in the manufacturing plants. Furthermore, we do not assume the motions of the objects to be expressed as a closed form function of time. Our collision detection scheme is efficient and accurate (to the resolution of the models). Given the geometric models, the algorithm precomputes the convex hull and a hierarchical representation of each model in terms of oriented bounding boxes. At runtime, it uses tight fitting axisaligned bounding boxes to pair down the number of object pair interactions to only those pairs within close proximity [12]. For each pair of objects whose bounding boxes overlap, the algorithm checks whether their convex hulls are intersecting based on the closest feature pairs [22]. Finally for each object pair whose convex hulls overlap, it makes use of oriented bounding box hierarchy (OBBTree) to check for actual contact [18]. Organization: The rest of the paper is organized as follows: Section 2 reviews some of the previous work in collision detection. Section 3 outlines the algorithm for pruning the number of object pairs. We briefly describe the closest feature and contact determination algorithms in Section 4. Finally, we describe the imple leftmark
Spherical shell: A higher order bounding volume for fast proximity queries
 In Proc. of Third International Workshop on Algorithmic Foundations of Robotics
"... Hierarchical data structures have been widely used to design e cient algorithms for interference detection for robot motion planning and physicallybased modeling applications. Most of the hierarchies involve use of bounding volumes which enclose the underlying geometry. These bounding volumes are u ..."
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Cited by 46 (9 self)
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Hierarchical data structures have been widely used to design e cient algorithms for interference detection for robot motion planning and physicallybased modeling applications. Most of the hierarchies involve use of bounding volumes which enclose the underlying geometry. These bounding volumes are used to test for interference orcompute distance bounds between the underlying geometry. The e ciency of a hierarchy is directly proportional to the choice ofabounding volume. In this paper, we introduce spherical shells, a higher order bounding volume for fast proximity queries. Each shell corresponds to a portion of the volume between two concentric spheres. We present algorithms to compute tight tting shells and fast overlap between two shells. Moreover, we show that spherical shells provide local cubic convergence to the underlying geometry. As aresult, in many cases they provide faster algorithms for interference detection and distance computation as compared toearlier methods. We also describe an implementation and compare it with other hierarchies. 1
Collision Detection for Continuously Deforming Bodies
, 2001
"... Fast and accurate collision detection between geometric bodies is essential in application areas like virtual reality, animation, simulation, games and robotics. In this work, we address the collision detection problem in applications where deformable bodies are used, which change their overall sh ..."
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Cited by 38 (0 self)
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Fast and accurate collision detection between geometric bodies is essential in application areas like virtual reality, animation, simulation, games and robotics. In this work, we address the collision detection problem in applications where deformable bodies are used, which change their overall shape every time step of the simulation. We propose and evaluate suitable bounding volume trees for deforming bodies that can be prebuilt and then updated very efficiently during simulation. Several heuristics for updating the trees due to deformations are compared to each other. By combining a topdown and a bottomup update strategy into a hybrid tree update method, promising results were achieved. Experiments show that our approach is four to five times faster than a previously leading method.
RECODE: An ImageBased Collision Detection Algorithm
 Proceedings of Pacific Graphics ’98
, 1998
"... Object interactions are ubiquitous in interactive computer graphics, 3D object motion simulations, virtual reality and robotics applications. Most collision detection algorithms are based on geometrical object–space interference tests. Some algorithms have employed an image– space approach to the co ..."
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Cited by 36 (0 self)
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Object interactions are ubiquitous in interactive computer graphics, 3D object motion simulations, virtual reality and robotics applications. Most collision detection algorithms are based on geometrical object–space interference tests. Some algorithms have employed an image– space approach to the collision detection problem. In this article, we demonstrate an image–space collision detection process that allows substatial computational savings during the image–space interference test. This approach makes efficient use of the graphics rendering hardware for real–time complex object interactions.
Analysis of a bounding box heuristic for object intersection
 Journal of the ACM
, 1999
"... Abstract. Bounding boxes are commonly used in computer graphics and other fields to improve the performance of algorithms that should process only the intersecting objects. A boundingboxbased heuristic avoids unnecessary intersection processing by eliminating the pairs whose bounding boxes are dis ..."
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Cited by 32 (4 self)
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Abstract. Bounding boxes are commonly used in computer graphics and other fields to improve the performance of algorithms that should process only the intersecting objects. A boundingboxbased heuristic avoids unnecessary intersection processing by eliminating the pairs whose bounding boxes are disjoint. Empirical evidence suggests that the heuristic works well in many practical applications, although its worstcase performance can be bad for certain pathological inputs. What is a pathological input, however, is not well understood, and consequently there is no guarantee that the heuristic will always work well in a specific application. In this paper, we analyze the performance of bounding box heuristic in terms of two natural shape parameters, aspect ratio and scale factor. These parameters can be used to realistically measure the degree to which the objects are pathologically shaped. We derive tight worstcase bounds on the performance for bounding box heuristic. One of the significant contributions of our paper is that we only require that objects be well shaped on average. Somewhat surprisingly, the bounds are significantly different from the case when all objects are well shaped.
A Simple and Efficient Method for Accurate Collision Detection Among Deformable Polyhedral Objects in Arbitrary Motion
 Proc. of the IEEE Virtual Reality Annual International Symposium
, 1995
"... We propose an accurate collision detection algorithm for use in virtual reality applications. The algorithm works for threedimensional graphical environments where multiple objects, represented as polyhedra (boundary representation), are undergoing arbitrary motion (translation and rotation). The a ..."
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Cited by 30 (3 self)
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We propose an accurate collision detection algorithm for use in virtual reality applications. The algorithm works for threedimensional graphical environments where multiple objects, represented as polyhedra (boundary representation), are undergoing arbitrary motion (translation and rotation). The algorithm can be used directly for both convex and concave objects and objects can be deformed (nonrigid) during motion. The algorithm works efficiently by first reducing the number of face pairs that need to be checked accurately for interference by first localizing possible collision regions using bounding box and spatial subdivision techniques; face pairs that remain after this pruning stage are then accurately checked for interference. The algorithm is efficient, simple to implement, and does not require any memory intensive auxiliary data structures to be precomputed and updated. Since polyhedral shape representation is one of the most common shape representation schemes, this algorithm...
RealTime Collision Detection and TimeCritical Computing
 In Workshop On Simulation and Interation in Virtual Environments
, 1995
"... Introduction Virtual environments have the ambitious goal of making users feel immersed in synthetic worlds. Success depends on many factors, but the most important is realtime, interactive performance. People expect the world to respond directly to their actions, so a synthetic world must exhibit ..."
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Cited by 15 (1 self)
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Introduction Virtual environments have the ambitious goal of making users feel immersed in synthetic worlds. Success depends on many factors, but the most important is realtime, interactive performance. People expect the world to respond directly to their actions, so a synthetic world must exhibit low latency ("lag") and high, nearlyconstant frame rates [3]. The "content" of a virtual environment is also important. Objects must exhibit believable appearances and behaviors, mimicing the real world except when there is a specific reason to deviate. "Solidness" is a central characteristic of real objects, so collision detection and response are important for making objects behave realistically. Detecting collisions while meeting the realtime performance needs of virtual environments is a notoriously difficult problem. Recent work has made significant progress, but collision detection is still slow enough that it is absent from many if not most virtual environments. My research