Results 1  10
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20
Efcient distance computation between nonconvex objects
 In International Conference of Robotics and Automation
, 1994
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Efficient Collision Detection for Animation and Robotics
, 1993
"... We present efficient algorithms for collision detection and contact determination between geometric models, described by linear or curved boundaries, undergoing rigid motion. The heart of our collision detection algorithm is a simple and fast incremental method to compute the distance between two ..."
Abstract

Cited by 109 (19 self)
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We present efficient algorithms for collision detection and contact determination between geometric models, described by linear or curved boundaries, undergoing rigid motion. The heart of our collision detection algorithm is a simple and fast incremental method to compute the distance between two convex polyhedra. It utilizes convexity to establish some local applicability criteria for verifying the closest features. A preprocessing procedure is used to subdivide each feature's neighboring features to a constant size and thus guarantee expected constant running time for each test. The expected constant time performance is an attribute from exploiting the geometric coherence and locality. Let n be the total number of features, the expected run time is between O( p n) and O(n) ...
Incremental algorithms for collision detection between solid models
 IEEE Transactions on Visualization and Computer Graphics
, 1995
"... solid models ..."
Obstacle Collision Detection Using Best Ellipsoid Fit
, 1997
"... This paper describes a method for estimating the distance between a robot and its surrounding environment using best ellipsoid fit. The method consists of the following two stages. First we approximate the detailed geometry of the robot and its environment by minimumvolume enclosing ellipsoids. Th ..."
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Cited by 27 (2 self)
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This paper describes a method for estimating the distance between a robot and its surrounding environment using best ellipsoid fit. The method consists of the following two stages. First we approximate the detailed geometry of the robot and its environment by minimumvolume enclosing ellipsoids. The computation of these ellipsoids is a convex optimization problem, for which efficient algorithms are known. Then we compute a conservative distance estimate using an important but little known formula for the distance of a point from and ndimensional ellipse. The computation of the distance estimate (and its gradient vector) is shown to be an eigenvalue problem, whose solution can be rapidly found using standard techniques. We also present an incremental version of the distance computation, which takes place along a continuous trajectory taken by the robot. We have implemented the proposed approach and present some preliminary results.
A New Model for Efficient Dynamic Simulation
, 1993
"... This paper introduces a new model for rapid physical simulation called sparse dynamics. The method employs a quick first pass to identify likely object interactions. These are then flagged for more detailed analysis. As actual collisions are rare in a sparsely populated environment, efficiency is gr ..."
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Cited by 15 (0 self)
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This paper introduces a new model for rapid physical simulation called sparse dynamics. The method employs a quick first pass to identify likely object interactions. These are then flagged for more detailed analysis. As actual collisions are rare in a sparsely populated environment, efficiency is greatly increased. The first pass uses deterministic Newtonian mechanics to predict future collisions analytically, obviating the need to simulate small uniform time steps. Timings indicate this provides a large speed improvement over more traditional methods. In particular we were able to simulate full collision detections for 1000 polyhedra at real time speeds. We also discuss how to extend the sparse dynamics model to handle complex effects such as gravity, friction, and user interaction. 1 Motivation The graphics community has a tradition of viewing realtime dynamic simulation as intractable. While large strides have been made in realtime rendering and user interfaces, simulations invol...
Fast algorithms for penetration and contact determination between nonconvex polyhedral models
 Robotics and Automation, IEEE International Conference
, 1995
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Realtime collision detection using spherical octrees : Vr application
 IEEE Int. Work. on Robot and Human Communication
, 1996
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Computing rotation distance between contacting polyhedra
 In Proc. IEEE Int. Conf. Robot. Autom. (ICRA
, 1996
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Proximity queries between convex objects: An interior point approach for implicit surfaces
 In 2006 IEEE International Conference on Robotics and Automation
, 2006
"... Abstract — This paper presents an interior point approach to exact distance computation between convex objects represented as intersections of implicit surfaces. Exact distance computation algorithms are particularly important for applications involving objects that make contact, such as in dynamic ..."
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Cited by 3 (0 self)
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Abstract — This paper presents an interior point approach to exact distance computation between convex objects represented as intersections of implicit surfaces. Exact distance computation algorithms are particularly important for applications involving objects that make contact, such as in dynamic simulations and in contact point prediction for dextrous manipulation. They can also be used in the narrow phase of hierarchical collision detection. In contrast to geometric approaches developed for polyhedral objects, we formulate the distance computation problem as a convex optimization problem; this optimization formulation has been previously described for polyhedral objects. We demonstrate that for general convex objects represented as implicit surfaces, interior point approaches are sufficiently fast, and owing to their global convergence properties, are the only provably good choice for solving proximity query problems for some object classes. We use a primaldual interior point algorithm that solves the KKT conditions obtained from the convex programming formulation. For the case of polyhedra and quadrics, we establish a theoretical time complexity of O(n 1.5), where n is the number of constraints. We present implementation results for example implicit surface objects, including polyhedra, quadrics, and generalizations of quadrics such as superquadrics and hyperquadrics, as well as intersections of these surfaces. We demonstrate that in practice, the algorithm takes time linear in the number of constraints, and that distance computation rates of about 1 kHz can be achieved. We also extend the approach to proximity queries between deforming convex objects. Finally, we show that continuous collision detection for linearly translating objects can be performed by solving two related convex optimization problems. For polyhedra and quadrics, we establish that the computational complexity of this problem is O(n 1.5). Index Terms — Proximity query, closest points, smooth objects, interior point algorithms, collision detection, dynamic simulation. I.