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Incremental Penetration Depth Estimation between Convex Polytopes Using Dual-Space Expansion

Title
Incremental Penetration Depth Estimation between Convex Polytopes Using Dual-Space Expansion
Authors
Kim Y.J.Lin M.C.Manocha D.
Ewha Authors
김영준
SCOPUS Author ID
김영준scopus
Issue Date
2004
Journal Title
IEEE Transactions on Visualization and Computer Graphics
ISSN
1077-2626JCR Link
Citation
vol. 10, no. 2, pp. 152 - 163
Indexed
SCI; SCIE; SCOPUS WOS scopus
Abstract
We present a fast algorithm to estimate the penetration depth between convex polytopes in 3D. The algorithm incrementally seeks a "locally optimal solution" by walking on the surface of the Minkowski sums. The surface of the Minkowski sums is computed implicitly by constructing a local dual mapping on the Gauss map. We also present three heuristic techniques that are used to estimate the initial features used by the walking algorithm. We have implemented the algorithm and compared its performance with earlier approaches. In our experiments, the algorithm is able to estimate the penetration depth in about a milli-second on an 1 GHz Pentium PC. Moreover, its performance is almost independent of model complexity in environments with high coherence between successive instances.
DOI
10.1109/TVCG.2004.1260767
Appears in Collections:
엘텍공과대학 > 컴퓨터공학과 > Journal papers
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