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Contact Handling for Deformable PointBased Objects
, 2004
"... This paper presents an approach to collision detection and response for dynamically deforming pointbased objects. Both the volume of an object and its surface are represented by point sets. In case of a collision, response forces are computed for penetrating surface points and distributed to volume ..."
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Cited by 18 (4 self)
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This paper presents an approach to collision detection and response for dynamically deforming pointbased objects. Both the volume of an object and its surface are represented by point sets. In case of a collision, response forces are computed for penetrating surface points and distributed to volume points which are used for simulating the object dynamics. The decoupling of collision handling and deformation allows for a very stable collision response while maintaining interactive update rates of the dynamic simulation for environments with moderate complexity. Simulation results are presented for elastically and plastically deforming objects with changing topology.
AN EFFICIENT COLLISION DETECTION ALGORITHM FOR POINT CLOUD MODELS
"... Point clouds models are a common shape representation for several reasons. Threedimensional scanning devices are widely used nowadays and points are an attractive primitive for rendering complex geometry. Nevertheless, there is not much literature on collision detection for point cloud models. This ..."
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Cited by 1 (1 self)
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Point clouds models are a common shape representation for several reasons. Threedimensional scanning devices are widely used nowadays and points are an attractive primitive for rendering complex geometry. Nevertheless, there is not much literature on collision detection for point cloud models. This paper presents a novel collision detection algorithm for point cloud models. The scene graph is divided in voxels. The objects of each voxel are organized in Rtrees hierarchies of AxisAligned Bounding Boxes to group neighboring points and filter out very quickly parts of objects that do not interact with other models. The proposed algorithm also uses Overlapping AxisAligned Bounding Boxes to improve the performance of the collision detection process. Points derived from laser scanned data typically are not segmented and can have arbitrary spatial resolution thus introducing computational and modeling issues. We address these issues and results show that the proposed collision detection algorithm effectively finds intersections between point cloud models since it is able to reduce the number of bounding volume checks and updates.
Interpolation Search for Point Cloud Intersection
"... We present a novel algorithm to compute intersections of two point clouds. It can be used to detect collisions between implicit surfaces defined by two point sets, or to construct their intersection curves. Our approach utilizes a proximity graph that allows for quick interpolation search of a commo ..."
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We present a novel algorithm to compute intersections of two point clouds. It can be used to detect collisions between implicit surfaces defined by two point sets, or to construct their intersection curves. Our approach utilizes a proximity graph that allows for quick interpolation search of a common zero of the two implicit functions. First, pairs of points from one point set are constructed, bracketing the intersection with the other surface. Second, an interpolation search along shortest paths in the graph is performed. Third, the solutions are refined. For the first and third step, randomized sampling is utilized. We show that the number of evaluations of the implicit function and the overall runtime is in O(loglogN) in the average case, where N is the point cloud size. The storage is bounded by O(N). Our measurements show that we achieve a speedup by an order of magnitude compared to a recently proposed randomized sampling technique for point cloud collision detection. Keywords: Collision detection, weighted least squares, proximity graphs, implicit surfaces.
Collision Detection on Point Clouds Using a 2.5+D ImageBased Approach
"... This work explores an alternative approach to the problem of collision detection using images instead of geometry to represent complex polygonal environments and buildings derived from laser scan data, used in an interactive navigation scenario. In a preprocessing step, models that are not point clo ..."
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This work explores an alternative approach to the problem of collision detection using images instead of geometry to represent complex polygonal environments and buildings derived from laser scan data, used in an interactive navigation scenario. In a preprocessing step, models that are not point clouds, are sampled to create representative point clouds. Our algorithm then creates several 2.5+D maps in a given volume that stacked together form a 3D section of the world. We show that our new representation allows for realistic and fast collision queries with complex geometry such as stairs and that the algorithm is insensitive to the size of the input point cloud at runtime.
AUTOMATIC COLLISION FREE PATH PLANNING IN HYBRID TRIANGLE AND POINT MODELS: A CASE STUDY
"... Collision free path planning is a key technology for assembly analysis, robot line optimization, and virtual assessment of industrial maintenance and service. The ability to compute collision free paths relies on the ability to quickly and robustly query the proximity of the planning object to its s ..."
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Collision free path planning is a key technology for assembly analysis, robot line optimization, and virtual assessment of industrial maintenance and service. The ability to compute collision free paths relies on the ability to quickly and robustly query the proximity of the planning object to its surroundings. Path planning with triangulated models is a well studied problem, however, hybrid models comprising both points and triangles present new and difficult challenges. Working directly with point clouds is becoming more relevant because it allows one to scan existing industrial installations and path plan with the scan data instead of possibly incorrect planned layouts. In this paper we implement and analyze a new hybrid path planning interface on a case study in robot line manufacturing and demonstrate its feasibility in comparison to an existing CAD model of the work environment and show that triangulating the original point cloud is undesirable for path planning. 1