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

(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

Isotropic Dynamic Hierarchical Clustering

We face a need of discovering a pattern in locations of a great number of points in a high-dimensional space. Goal is to group the close points together. We are interested in a hierarchical structure, like a B-tree. B-Trees are hierarchical, balanced, and they can be constructed dynamically. B-Tree approach allows to determine the structure without any supervised learning or a priori knowlwdge. The space is Euclidean and isotropic. Unfortunately, there are no B-Tree implementations processing indices in a symmetrical and isotropical way. Some implementations are based on constructing compound asymmetrical indices from point coordinates; and the others split the nodes along the coordinate hyper-planes. We need to process tens of millions of points in a thousand-dimensional space. The application has to be scalable. Ideally, a cluster should be an ellipsoid, but it would require to store O(n2) ellipse axes. So, we are using multi-dimensional balls defined by the centers and radii. Calculation of statistical values like the mean and the average deviation, can be done in an incremental way. While adding a point to a tree, the statistical values for nodes recalculated in O(1) time. We support both, brute force O(2n) and greedy O(n2) split algorithms. Statistical and aggregated node information also allows to manipulate (to search, to delete) aggregated sets of closely located points. Hierarchical information retrieval. When searching, the user is provided with the highest appropriate nodes in the tree hierarchy, with the most important clusters emerging in the hierarchy automatically. Then, if interested, the user may navigate down the tree to more specific points. The system is implemented as a library of Java classes representing Points, Sets of points with aggregated statistical information, B-tree, and Nodes with a support of serialization and storage in a MySQL database.Comment: 6 pages with 3 example

Hierarchical bounding structures for efficient virial computations: Towards a realistic molecular description of cholesterics

We detail the application of bounding volume hierarchies to accelerate second-virial evaluations for arbitrary complex particles interacting through hard and soft finite-range potentials. This procedure, based on the construction of neighbour lists through the combined use of recursive atom-decomposition techniques and binary overlap search schemes, is shown to scale sub-logarithmically with particle resolution in the case of molecular systems with high aspect ratios. Its implementation within an efficient numerical and theoretical framework based on classical density functional theory enables us to investigate the cholesteric self-assembly of a wide range of experimentally-relevant particle models. We illustrate the method through the determination of the cholesteric behaviour of hard, structurally-resolved twisted cuboids, and report quantitative evidence of the long-predicted phase handedness inversion with increasing particle thread angles near the phenomenological threshold value of $45^\circ$. Our results further highlight the complex relationship between microscopic structure and helical twisting power in such model systems, which may be attributed to subtle geometric variations of their chiral excluded-volume manifold

Planning 3-D collision-free paths using spheres

A scheme for the representation of objects, the Successive Spherical Approximation (SSA), facilitates the rapid planning of collision-free paths in a 3-D, dynamic environment. The hierarchical nature of the SSA allows collision-free paths to be determined efficiently while still providing for the exact representation of dynamic objects. The concept of a freespace cell is introduced to allow human 3-D conceptual knowledge to be used in facilitating satisfying choices for paths. Collisions can be detected at a rate better than 1 second per environment object per path. This speed enables the path planning process to apply a hierarchy of rules to create a heuristically satisfying collision-free path

Ackermannian and Primitive-Recursive Bounds with Dickson's Lemma

Dickson's Lemma is a simple yet powerful tool widely used in termination proofs, especially when dealing with counters or related data structures. However, most computer scientists do not know how to derive complexity upper bounds from such termination proofs, and the existing literature is not very helpful in these matters. We propose a new analysis of the length of bad sequences over (N^k,\leq) and explain how one may derive complexity upper bounds from termination proofs. Our upper bounds improve earlier results and are essentially tight

A Proposal for Semantic Map Representation and Evaluation

Semantic mapping is the incremental process of “mapping” relevant information of the world (i.e., spatial information, temporal events, agents and actions) to a formal description supported by a reasoning engine. Current research focuses on learning the semantic of environments based on their spatial location, geometry and appearance. Many methods to tackle this problem have been proposed, but the lack of a uniform representation, as well as standard benchmarking suites, prevents their direct comparison. In this paper, we propose a standardization in the representation of semantic maps, by defining an easily extensible formalism to be used on top of metric maps of the environments. Based on this, we describe the procedure to build a dataset (based on real sensor data) for benchmarking semantic mapping techniques, also hypothesizing some possible evaluation metrics. Nevertheless, by providing a tool for the construction of a semantic map ground truth, we aim at the contribution of the scientific community in acquiring data for populating the dataset

Few smooth d-polytopes with n lattice points

We prove that, for fixed n there exist only finitely many embeddings of Q-factorial toric varieties X into P^n that are induced by a complete linear system. The proof is based on a combinatorial result that for fixed nonnegative integers d and n, there are only finitely many smooth d-polytopes with n lattice points. We also enumerate all smooth 3-polytopes with at most 12 lattice points. In fact, it is sufficient to bound the singularities and the number of lattice points on edges to prove finiteness.Comment: 20+2 pages; major revision: new author, new structure, new result

Open questions about Ramsey-type statements in reverse mathematics

Ramsey's theorem states that for any coloring of the n-element subsets of N with finitely many colors, there is an infinite set H such that all n-element subsets of H have the same color. The strength of consequences of Ramsey's theorem has been extensively studied in reverse mathematics and under various reducibilities, namely, computable reducibility and uniform reducibility. Our understanding of the combinatorics of Ramsey's theorem and its consequences has been greatly improved over the past decades. In this paper, we state some questions which naturally arose during this study. The inability to answer those questions reveals some gaps in our understanding of the combinatorics of Ramsey's theorem.Comment: 15 page

Fixed-Dimensional Energy Games are in Pseudo-Polynomial Time

We generalise the hyperplane separation technique (Chatterjee and Velner, 2013) from multi-dimensional mean-payoff to energy games, and achieve an algorithm for solving the latter whose running time is exponential only in the dimension, but not in the number of vertices of the game graph. This answers an open question whether energy games with arbitrary initial credit can be solved in pseudo-polynomial time for fixed dimensions 3 or larger (Chaloupka, 2013). It also improves the complexity of solving multi-dimensional energy games with given initial credit from non-elementary (Br\'azdil, Jan\v{c}ar, and Ku\v{c}era, 2010) to 2EXPTIME, thus establishing their 2EXPTIME-completeness.Comment: Corrected proof of Lemma 6.2 (thanks to Dmitry Chistikov for spotting an error in the previous proof