Compressed Bounding Volume Hierarchies for Collision Detection & Proximity Query

We present a novel representation of compressed data structure for simultaneous bounding volume hierarchy (BVH) traversals like they appear for instance in collision detection & proximity query. The main idea is to compress bounding volume (BV) descriptors and cluster BVH into a smaller parts 'treelet' that fit into CPU cache while at the same time maintain random-access and automatic cache-aware data structure layouts. To do that, we quantify BV and compress 'treelet' using predictor-corrector scheme with the predictor at a specific node in the BVH based on the chain of BVs upwards.

[1]  Ming C. Lin,et al.  Accurate and Fast Proximity Queries Between Polyhedra Using Convex Surface Decomposition , 2001, Comput. Graph. Forum.

[2]  Gabriel Zachmann,et al.  Rapid collision detection by dynamically aligned DOP-trees , 1998, Proceedings. IEEE 1998 Virtual Reality Annual International Symposium (Cat. No.98CB36180).

[3]  Gino van den Bergen.  Efficient Collision Detection of Complex Deformable Models using AABB Trees , 1997, J. Graphics, GPU, & Game Tools.

[4]  Gabriel Zachmann,et al.  SIMDop: SIMD optimized Bounding Volume Hierarchies for Collision Detection , 2019, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[5]  S. Kolski,et al.  Detection, prediction, and avoidance of dynamic obstacles in urban environments , 2008, 2008 IEEE Intelligent Vehicles Symposium.

[6]  Stefano Caselli,et al.  An experimental evaluation of collision detection packages for robot motion planning , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  Roland Siegwart,et al.  Fast collision detection through bounding volume hierarchies in workspace-time space for sampling-based motion planners , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[8]  Jarmo Takala,et al.  Fast Hardware Construction and Refitting of Quantized Bounding Volume Hierarchies , 2017, Comput. Graph. Forum.

[9]  Philip M. Hubbard,et al.  Approximating polyhedra with spheres for time-critical collision detection , 1996, TOGS.

[10]  Bochang Moon,et al.  RACBVHs: Random-Accessible Compressed Bounding Volume Hierarchies , 2009, IEEE Transactions on Visualization and Computer Graphics.

[11]  Tomas Akenine-Möller,et al.  Watertight ray traversal with reduced precision , 2016, High Performance Graphics.

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

[13]  Ingo Wald,et al.  Compressed-leaf bounding volume hierarchies , 2018, High Performance Graphics.

[14]  Peter van Emde Boas,et al.  Preserving order in a forest in less than logarithmic time , 1975, 16th Annual Symposium on Foundations of Computer Science (sfcs 1975).

[15]  Gabriel Zachmann,et al.  Minimal hierarchical collision detection , 2002, VRST '02.

[16]  Dinesh Manocha,et al.  Ray-Strips: A Compact Mesh Representation for Interactive Ray Tracing , 2007, 2007 IEEE Symposium on Interactive Ray Tracing.

[17]  Daniel Lemire,et al.  Stream VByte: Faster byte-oriented integer compression , 2017, Inf. Process. Lett..

[18]  M. Koskela,et al.  Using Half-Precision Floating-Point Numbers for Storing Bounding Volume Hierarchies , 2015 .

[19]  Toni Tan,et al.  OpenCollBench - Benchmarking of Collision Detection & Proximity Queries as a Web-Service , 2020, Web3D.

[20]  Marcus A. Magnor,et al.  The Minimal Bounding Volume Hierarchy , 2010, VMV.

[21]  Dinesh Manocha,et al.  Cache‐Efficient Layouts of Bounding Volume Hierarchies , 2006, Comput. Graph. Forum.