H-Walk : Hierarchical Distance Computation for Moving Convex Bodies (1999)
| Venue: | In Proc. ACM Symposium on Computational Geometry |
| Citations: | 32 - 0 self |
BibTeX
@INPROCEEDINGS{Guibas99h-walk:,
author = {Leonidas J. Guibas and David Hsu and Li Zhang},
title = {H-Walk : Hierarchical Distance Computation for Moving Convex Bodies},
booktitle = {In Proc. ACM Symposium on Computational Geometry},
year = {1999},
pages = {265--273}
}
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Abstract
This paper presents the Hierarchical Walk, or H-Walk algorithm, which maintains the distance between two moving convex bodies by exploiting both motion coherence and hierarchical representations. For convex polygons, we prove that H-Walk improves on the classic Lin-Canny and DobkinKirkpatrick algorithms. We have implemented H-Walk for moving convex polyhedra in three dimensions. Experimental results indicate that, unlike previous incremental distance computation algorithms, H-Walk adapts well to variable coherence in the motion. 1 Introduction Distance computation is an important problem in many applications, for example, robot motion planning, virtual environment simulation, and computer animation. Distance information can be used to detect collisions, which is important in creating realistic physical simulations. In motion planning, collisions can cause robot damage; in simulation and animation, collisions leads to either incorrect motion or visual artifacts. Distance information c...
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