Accelerated Proximity Queries Between Convex Polyhedra By

We present an accelerated proximity query algorithm between moving convex polyhedra. The algorithm combines Voronoi-based feature tracking with a multi-levelofdetail representation, in order to adapt to the variation in levels of coherence and speed up the computation. It provides a progressive rejinement framework for collision detection and distance queries. We have implemented our algorithm and have observed signifcant performunce improvements in our experiments, especially on scenarios where the coherence is low.

[1]  David Salesin,et al.  Wavelets for computer graphics: a primer. 2 , 1995, IEEE Computer Graphics and Applications.

[2]  Dinesh Manocha,et al.  OBBTree: a hierarchical structure for rapid interference detection , 1996, SIGGRAPH.

[3]  Hanan Samet,et al.  Spatial Data Structures , 1995, Modern Database Systems.

[4]  Leonidas J. Guibas,et al.  Separation-sensitive collision detection for convex objects , 1998, SODA '99.

[5]  Ming C. Lin,et al.  Efficient collision detection for animation and robotics , 1993 .

[6]  Ming C. Lin,et al.  Accelerated proximity queries between convex polyhedra by multi-level Voronoi marching , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[7]  Philip M. Hubbard,et al.  Interactive collision detection , 1993, Proceedings of 1993 IEEE Research Properties in Virtual Reality Symposium.

[8]  H. Ehlers.  LECTURERS , 1948, Statistics for Astrophysics.

[9]  Herbert Edelsbrunner,et al.  Computing the Extreme Distances Between Two Convex Polygons , 1985, J. Algorithms.

[10]  Sean Quinlan,et al.  Efficient distance computation between non-convex objects , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[11]  David G. Kirkpatrick,et al.  Determining the Separation of Preprocessed Polyhedra - A Unified Approach , 1990, ICALP.

[12]  Brian Mirtich,et al.  V-Clip: fast and robust polyhedral collision detection , 1998, TOGS.

[13]  Kok-Lim Low,et al.  Computing bounding volume hierarchies using model simplification , 1999, SI3D.

[14]  Ming C. Lin,et al.  Fast volume-preserving free form deformation using multi-level optimization , 1999, SMA '99.

[15]  Raimund Seidel,et al.  Linear programming and convex hulls made easy , 1990, SCG '90.

[16]  Stephen Cameron,et al.  Approximation hierarchies and S-bounds , 1991, SMA '91.

[17]  Stephen Cameron,et al.  Enhancing GJK: computing minimum and penetration distances between convex polyhedra , 1997, Proceedings of International Conference on Robotics and Automation.

[18]  Joseph S. B. Mitchell,et al.  Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs , 1998, IEEE Trans. Vis. Comput. Graph..