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415
Collision Detection Between Geometric Models: A Survey
 In Proc. of IMA Conference on Mathematics of Surfaces
, 1998
"... In this paper, we survey the state of the art in collision detection between general geometric models. The set of models include polygonal objects, spline or algebraic surfaces, CSG models, and deformable bodies. We present a number of techniques and systems available for contact determination. We a ..."
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Cited by 185 (15 self)
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In this paper, we survey the state of the art in collision detection between general geometric models. The set of models include polygonal objects, spline or algebraic surfaces, CSG models, and deformable bodies. We present a number of techniques and systems available for contact determination. We also describe several Nbody algorithms to reduce the number of pairwise intersection tests. 1 Introduction The goal of collision detection (also known as interference detection or contact determination) is to automatically report a geometric contact when it is about to occur or has actually occurred. The geometric models may be polygonal objects, splines, or algebraic surfaces. The problem is encountered in computeraided design and machining (CAD/CAM), robotics and automation, manufacturing, computer graphics, animation and computer simulated environments. Collision detection enables simulationbased design, tolerance verification, engineering analysis, assembly and disassembly, motion pla...
Interval Analysis For Computer Graphics
 Computer Graphics
, 1992
"... This paper discusses how interval analysis can be used to solve a wide variety of problems in computer graphics. These problems include ray tracing, interference detection, polygonal decomposition of parametric surfaces, and CSG on solids bounded by parametric surfaces. Only two basic algorithms are ..."
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Cited by 132 (2 self)
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This paper discusses how interval analysis can be used to solve a wide variety of problems in computer graphics. These problems include ray tracing, interference detection, polygonal decomposition of parametric surfaces, and CSG on solids bounded by parametric surfaces. Only two basic algorithms are required: SOLVE, which computes solutions to a system of constraints, and MINIMIZE, which computes the global minimum of a function, subject to a system of constraints. We present algorithms for SOLVE and MINIMIZE using interval analysis as the conceptual framework. Crucial to the technique is the creation of "inclusion functions" for each constraint and function to be minimized. Inclusion functions compute a bound on the range of a function, given a similar bound on its domain, allowing a branch and bound approach to constraint solution and constrained minimization. Inclusion functions also allow the MINIMIZE algorithm to compute global rather than local minima, unlike many other numerica...
Solving Polynomial Systems Using a Branch and Prune Approach
 SIAM Journal on Numerical Analysis
, 1997
"... This paper presents Newton, a branch & prune algorithm to find all isolated solutions of a system of polynomial constraints. Newton can be characterized as a global search method which uses intervals for numerical correctness and for pruning the search space early. The pruning in Newton consists in ..."
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Cited by 101 (7 self)
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This paper presents Newton, a branch & prune algorithm to find all isolated solutions of a system of polynomial constraints. Newton can be characterized as a global search method which uses intervals for numerical correctness and for pruning the search space early. The pruning in Newton consists in enforcing at each node of the search tree a unique local consistency condition, called boxconsistency, which approximates the notion of arcconsistency wellknown in artificial intelligence. Boxconsistency is parametrized by an interval extension of the constraint and can be instantiated to produce the HansenSegupta's narrowing operator (used in interval methods) as well as new operators which are more effective when the computation is far from a solution. Newton has been evaluated on a variety of benchmarks from kinematics, chemistry, combustion, economics, and mechanics. On these benchmarks, it outperforms the interval methods we are aware of and compares well with stateoftheart continuation methods. Limitations of Newton (e.g., a sensitivity to the size of the initial intervals on some problems) are also discussed. Of particular interest is the mathematical and programming simplicity of the method.
Affine Arithmetic and its Applications to Computer Graphics
, 1993
"... We describe a new method for numeric computations, which we call affine arithmetic (AA). This model is similar to standard interval arithmetic, to the extent that it automatically keeps track of rounding and truncation errors for each computed value. However, by taking into account correlations betw ..."
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Cited by 66 (6 self)
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We describe a new method for numeric computations, which we call affine arithmetic (AA). This model is similar to standard interval arithmetic, to the extent that it automatically keeps track of rounding and truncation errors for each computed value. However, by taking into account correlations between operands and subformulas, AA is able to provide much tighter bounds for the computed quantities, with errors that are approximately quadratic in the uncertainty of the input variables. We also describe two applications of AA to computer graphics problems, where this feature is particularly valuable: namely, ray tracing and the construction of octrees for implicit surfaces.
Interval Methods for MultiPoint Collisions between TimeDependent Curved Surfaces
 Computer Graphics
, 1993
"... We present an efficient and robust algorithm for finding points of collision between timedependent parametric and implicit surfaces. The algorithm detects simultaneous collisions at multiple points of contact. When the regions of contact form curves or surfaces, it returns a finite set of points un ..."
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Cited by 63 (0 self)
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We present an efficient and robust algorithm for finding points of collision between timedependent parametric and implicit surfaces. The algorithm detects simultaneous collisions at multiple points of contact. When the regions of contact form curves or surfaces, it returns a finite set of points uniformly distributed over each contact region. Collisions can be computed for a very general class of surfaces: those for which inclusion functions can be constructed. Included in this set are the familiar kinds of surfaces and time behaviors encountered in computer graphics. We use a new interval approach for constrained minimization to detect collisions, and a tangency condition to reduce the dimensionality of the search space. These approaches make interval methods practical for multipoint collisions between complex surfaces. An interval Newton method based on the solution of the interval linear equation is used to speed convergence to the collision time and location. This method is mor...
Combining edges and points for interactive highquality rendering
 ACM Trans. Graph
, 2003
"... This paper presents a new interactive rendering and display technique for complex scenes with expensive shading, such as global illumination. Our approach combines sparsely sampled shading (points) and analytically computed discontinuities (edges) to interactively generate highquality images. The e ..."
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Cited by 59 (7 self)
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This paper presents a new interactive rendering and display technique for complex scenes with expensive shading, such as global illumination. Our approach combines sparsely sampled shading (points) and analytically computed discontinuities (edges) to interactively generate highquality images. The edgeandpoint image is a new compact representation that combines edges and points such that fast, tabledriven interpolation of pixel shading from nearby point samples is possible, while respecting discontinuities. The edgeandpoint renderer is extensible, permitting the use of arbitrary shaders to collect shading samples. Shading discontinuities, such as silhouettes and shadow edges, are found at interactive rates. Our software implementation supports interactive navigation and object manipulation in scenes that include expensive lighting effects (such as global illumination) and geometrically complex objects. For interactive rendering we show that highquality images of these scenes can be rendered at 8–14 frames per second on a desktop PC: a speedup of 20–60 over a ray tracer computing a single sample per pixel.
Illumination from Curved Reflectors
, 1992
"... A technique is presented to compute the reflected illumination from curved mirror surfaces onto other surfaces. In accordance with Fermat's principle, this is equivalent to finding extremal paths from the light source to the visible surface via the mirrors. Once pathways of illumination are found, i ..."
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Cited by 55 (0 self)
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A technique is presented to compute the reflected illumination from curved mirror surfaces onto other surfaces. In accordance with Fermat's principle, this is equivalent to finding extremal paths from the light source to the visible surface via the mirrors. Once pathways of illumination are found, irradiance is computed from the Gaussian curvature of the geometrical wavefront. Techniques from optics, differential geometry and interval analysis are applied to solve these problems. CR Categories and Subject Descriptions: I.3.3 [ Computer Graphics ]: Picture/Image Generation; I.3.7 [ Computer Graphics ]: ThreeDimensional Graphics and Realism General Terms: Algorithms Additional Keywords and Phrases: Caustics, Differential Geometry, Geometrical Optics, Global Illumination, Interval Arithmetic, Ray Tracing, Wavefronts 1. Introduction Ray tracing provides a straightforward means for synthesizing realistic images on the computer. A scene is first modeled, usually by a collection of implici...
Radiance Interpolants for Accelerated BoundedError Ray Tracing
 ACM Transactions on Graphics
, 1999
"... this paper, we present a system that exploits objectspace, rayspace, imagespace and temporal coherence to accelerate ray tracing. Our system uses persurface interpolants to approximate radiance, while conservatively bounding error. The techniques we introduce in this paper should enhance both int ..."
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Cited by 53 (5 self)
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this paper, we present a system that exploits objectspace, rayspace, imagespace and temporal coherence to accelerate ray tracing. Our system uses persurface interpolants to approximate radiance, while conservatively bounding error. The techniques we introduce in this paper should enhance both interactive and batch ray tracers.
Computations with Imprecise Parameters in Engineering Design: Background and Theory
 ASME JOURNAL OF MECHANISMS, TRANSMISSIONS, AND AUTOMATION IN DESIGN
, 1989
"... A technique to perform design calculations on imprecise representations of parameters has been developed and is presented. The level of imprecision in the description of design elements is typically high in the preliminary phase of engineering design. This imprecision is represented using the fuzzy ..."
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Cited by 53 (18 self)
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A technique to perform design calculations on imprecise representations of parameters has been developed and is presented. The level of imprecision in the description of design elements is typically high in the preliminary phase of engineering design. This imprecision is represented using the fuzzy calculus. Calculations can be performed using this method, to produce (imprecise) performance parameters from imprecise (input) design parameters. The Fuzzy Weighted Average technique is used to perform these calculations. A new metric, called the γlevel measure, is introduced to determine the relative coupling between imprecise inputs and outputs. The background and theory supporting this approach are presented, along with one example.
A Review of Preconditioners for the Interval GaussSeidel Method
, 1991
"... . Interval Newton methods in conjunction with generalized bisection can form the basis of algorithms that find all real roots within a specified box X ae R n of a system of nonlinear equations F (X) = 0 with mathematical certainty, even in finiteprecision arithmetic. In such methods, the system ..."
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Cited by 50 (16 self)
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. Interval Newton methods in conjunction with generalized bisection can form the basis of algorithms that find all real roots within a specified box X ae R n of a system of nonlinear equations F (X) = 0 with mathematical certainty, even in finiteprecision arithmetic. In such methods, the system F (X) = 0 is transformed into a linear interval system 0 = F (M) +F 0 (X)( ~ X \Gamma M); if interval arithmetic is then used to bound the solutions of this system, the resulting box ~ X contains all roots of the nonlinear system. We may use the interval GaussSeidel method to find these solution bounds. In order to increase the overall efficiency of the interval Newton / generalized bisection algorithm, the linear interval system is multiplied by a preconditioner matrix Y before the interval GaussSeidel method is applied. Here, we review results we have obtained over the past few years concerning computation of such preconditioners. We emphasize importance and connecting relationships,...