5,307 research outputs found

    Separation-Sensitive Collision Detection for Convex Objects

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    We develop a class of new kinetic data structures for collision detection between moving convex polytopes; the performance of these structures is sensitive to the separation of the polytopes during their motion. For two convex polygons in the plane, let DD be the maximum diameter of the polygons, and let ss be the minimum distance between them during their motion. Our separation certificate changes O(log(D/s))O(\log(D/s)) times when the relative motion of the two polygons is a translation along a straight line or convex curve, O(D/s)O(\sqrt{D/s}) for translation along an algebraic trajectory, and O(D/s)O(D/s) for algebraic rigid motion (translation and rotation). Each certificate update is performed in O(log(D/s))O(\log(D/s)) time. Variants of these data structures are also shown that exhibit \emph{hysteresis}---after a separation certificate fails, the new certificate cannot fail again until the objects have moved by some constant fraction of their current separation. We can then bound the number of events by the combinatorial size of a certain cover of the motion path by balls.Comment: 10 pages, 8 figures; to appear in Proc. 10th Annual ACM-SIAM Symposium on Discrete Algorithms, 1999; see also http://www.uiuc.edu/ph/www/jeffe/pubs/kollide.html ; v2 replaces submission with camera-ready versio

    Kinetic collision detection between two simple polygons

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    AbstractWe design a kinetic data structure for detecting collisions between two simple polygons in motion. In order to do so, we create a planar subdivision of the free space between the two polygons, called the external relative geodesic triangulation, which certifies their disjointness. We show how this subdivision can be maintained as a kinetic data structure when the polygons are moving, and analyze its performance in the kinetic setting

    New Geometric Data Structures for Collision Detection

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    We present new geometric data structures for collision detection and more, including: Inner Sphere Trees - the first data structure to compute the peneration volume efficiently. Protosphere - an new algorithm to compute space filling sphere packings for arbitrary objects. Kinetic AABBs - a bounding volume hierarchy that is optimal in the number of updates when the objects deform. Kinetic Separation-List - an algorithm that is able to perform continuous collision detection for complex deformable objects in real-time. Moreover, we present applications of these new approaches to hand animation, real-time collision avoidance in dynamic environments for robots and haptic rendering, including a user study that exploits the influence of the degrees of freedom in complex haptic interactions. Last but not least, we present a new benchmarking suite for both, peformance and quality benchmarks, and a theoretic analysis of the running-time of bounding volume-based collision detection algorithms

    Are object detection assessment criteria ready for maritime computer vision?

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    Maritime vessels equipped with visible and infrared cameras can complement other conventional sensors for object detection. However, application of computer vision techniques in maritime domain received attention only recently. The maritime environment offers its own unique requirements and challenges. Assessment of the quality of detections is a fundamental need in computer vision. However, the conventional assessment metrics suitable for usual object detection are deficient in the maritime setting. Thus, a large body of related work in computer vision appears inapplicable to the maritime setting at the first sight. We discuss the problem of defining assessment metrics suitable for maritime computer vision. We consider new bottom edge proximity metrics as assessment metrics for maritime computer vision. These metrics indicate that existing computer vision approaches are indeed promising for maritime computer vision and can play a foundational role in the emerging field of maritime computer vision

    Revisión de literatura de jerarquía volúmenes acotantes enfocados en detección de colisiones

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    (Eng) A bounding volume is a common method to simplify object representation by using the composition of geometrical shapes that enclose the object; it encapsulates complex objects by means of simple volumes and it is widely useful in collision detection applications and ray tracing for rendering algorithms. They are popular in computer graphics and computational geometry. Most popular bounding volumes are spheres, Oriented-Bounding Boxe s (OBB’ s), Axis-Align ed Bound ing Boxes (AABB’ s); moreover , the literature review includes ellipsoids, cylinders, sphere packing, sphere shells , k-DOP’ s, convex hulls, cloud of points, and minimal bounding boxe s, among others. A Bounding Volume Hierarchy is ussualy a tree in which the complete object is represented thigter fitting every level of the hierarchy. Additionally, each bounding volume has a cost associated to construction, update, and interference te ts. For instance, spheres are invariant to rotation and translations, then they do not require being updated ; their constructions and interference tests are more straightforward then OBB’ s; however, their tightness is lower than other bounding volumes. Finally , three comparisons between two polyhedra; seven different algorithms were used, of which five are public libraries for collision detection.(Spa) Un volumen acotante es un método común para simplificar la representación de los objetos por medio de composición de formas geométricas que encierran el objeto; estos encapsulan objetos complejos por medio de volúmenes simples y son ampliamente usados en aplicaciones de detección de colisiones y trazador de rayos para algoritmos de renderización. Los volúmenes acotantes son populares en computación gráfica y en geometría computacional; los más populares son las esferas, las cajas acotantes orientadas (OBB’s) y las cajas acotantes alineadas a los ejes (AABB’s); no obstante, la literatura incluye elipses, cilindros empaquetamiento de esferas, conchas de esferas, k-DOP’s, convex hulls, nubes de puntos y cajas acotantes mínimas, entre otras. Una jerarquía de volúmenes acotantes es usualmente un árbol, en el cual la representación de los objetos es más ajustada en cada uno de los niveles de la jerarquía. Adicionalmente, cada volumen acotante tiene asociado costos de construcción, actualización, pruebas de interferencia. Por ejemplo, las esferas so invariantes a rotación y translación, por lo tanto no requieren ser actualizadas en comparación con los AABB no son invariantes a la rotación. Por otro lado la construcción y las pruebas de solapamiento de las esferas son más simples que los OBB’s; sin embargo, el ajuste de las esferas es menor que otros volúmenes acotantes. Finalmente, se comparan dos poliedros con siete algoritmos diferentes de los cuales cinco son librerías públicas para detección de colisiones

    Combined 3D thinning and greedy algorithm to approximate realistic particles with corrected mechanical properties

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    The shape of irregular particles has significant influence on micro- and macro-scopic behavior of granular systems. This paper presents a combined 3D thinning and greedy set-covering algorithm to approximate realistic particles with a clump of overlapping spheres for discrete element method (DEM) simulations. First, the particle medial surface (or surface skeleton), from which all candidate (maximal inscribed) spheres can be generated, is computed by the topological 3D thinning. Then, the clump generation procedure is converted into a greedy set-covering (SCP) problem. To correct the mass distribution due to highly overlapped spheres inside the clump, linear programming (LP) is used to adjust the density of each component sphere, such that the aggregate properties mass, center of mass and inertia tensor are identical or close enough to the prototypical particle. In order to find the optimal approximation accuracy (volume coverage: ratio of clump's volume to the original particle's volume), particle flow of 3 different shapes in a rotating drum are conducted. It was observed that the dynamic angle of repose starts to converge for all particle shapes at 85% volume coverage (spheres per clump < 30), which implies the possible optimal resolution to capture the mechanical behavior of the system.Comment: 34 pages, 13 figure

    QuickCSG: Fast Arbitrary Boolean Combinations of N Solids

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    QuickCSG computes the result for general N-polyhedron boolean expressions without an intermediate tree of solids. We propose a vertex-centric view of the problem, which simplifies the identification of final geometric contributions, and facilitates its spatial decomposition. The problem is then cast in a single KD-tree exploration, geared toward the result by early pruning of any region of space not contributing to the final surface. We assume strong regularity properties on the input meshes and that they are in general position. This simplifying assumption, in combination with our vertex-centric approach, improves the speed of the approach. Complemented with a task-stealing parallelization, the algorithm achieves breakthrough performance, one to two orders of magnitude speedups with respect to state-of-the-art CPU algorithms, on boolean operations over two to dozens of polyhedra. The algorithm also outperforms GPU implementations with approximate discretizations, while producing an output without redundant facets. Despite the restrictive assumptions on the input, we show the usefulness of QuickCSG for applications with large CSG problems and strong temporal constraints, e.g. modeling for 3D printers, reconstruction from visual hulls and collision detection

    Kinetic collision detection for balls rolling on a plane

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    This abstract presents a first step towards kinetic col- lision detection in 3 dimensions. In particular, we design a compact and responsive kinetic data struc- ture (KDS) for detecting collisions between n balls of arbitrary sizes rolling on a plane. The KDS has size O(n log n) and can handle events in O(log n) time. The structure processes O(n2) events in the worst case, assuming that the objects follow low-degree al- gebraic trajectories. The full paper [1] presents ad- ditional results for convex fat 3-dimensional objects that are free-flying in R3

    Fast Penetration Depth Estimation for Elastic Bodies

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    We present a fast penetration depth estimation algorithm between deformable polyhedral objects. We assume the continuum of non-rigid models are discretized using standard techniques, such as finite element or finite difference methods. As the objects deform, the pre-computed distance fields are deformed accordingly to estimate penetration depth, allowing enforcement of non-penetration constraints between two colliding elastic bodies. This approach can automatically handle self-penetration and inter-penetration in a uniform manner. We demonstrate its effectiveness on moderately complex simulation scenes
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