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PhongPD: Gradient-continuous penetration metric for polygonal models using Phong projection

Title
PhongPD: Gradient-continuous penetration metric for polygonal models using Phong projection
Authors
Lee Y.Kim Y.J.
Ewha Authors
김영준
SCOPUS Author ID
김영준scopus
Issue Date
2015
Journal Title
Proceedings - IEEE International Conference on Robotics and Automation
ISSN
1050-4729JCR Link
Citation
vol. 2015-June, no. June, pp. 57 - 62
Publisher
Institute of Electrical and Electronics Engineers Inc.
Indexed
SCOPUS scopus
Abstract
We present a novel algorithm to compute a gradient-continuous penetration depth (PhongPD) between two interpenetrated polygonal models. Our penetration depth (PD) formulation ensures separating the intersected models by translation, and the amount of such translation is close to an optimal motion to resolve interpenetration in most cases. In order to achieve the gradient-continuity in our algorithm, we interpolate tangent planes continuously over the contact space and then perform a projection along a normal direction defined by the interpolated tangent planes; this projection scheme is known as Phong projection. We have implemented our PhongPD algorithm and certifies its continuity using three benchmarks consisting of diverse combinatorial complexities, and show that our algorithm shows smoother PD results than a conventional Euclidean-projection-based PD method. © 2015 IEEE.
DOI
10.1109/ICRA.2015.7138980
Appears in Collections:
엘텍공과대학 > 컴퓨터공학과 > Journal papers
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