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Conference Paper: GPU-based proximity query processing on unstructured triangular mesh model

TitleGPU-based proximity query processing on unstructured triangular mesh model
Authors
KeywordsGraphics processing units (GPUs)
Haptic feedback
Proximity queries (PQs)
Robot motion planning
Issue Date2015
PublisherIEEE Computer Society. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000639
Citation
The 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA., 26-30 May 2015. In Conference Proceedings, 2015, p. 4405-4411 How to Cite?
AbstractThis paper presents a novel proximity query (PQ) approach capable to detect the collision and calculate the minimal Euclidean distance between two non-convex objects in 3D, namely the robot and the environment. Such approaches are often considered as computationally demanding problems, but are of importance to many applications such as online simulation of haptic feedback and robot collision-free trajectory. Our approach enables to preserve the representation of unstructured environment in the form of triangular meshes. The proposed PQ algorithm is computationally parallel so that it can be effectively implemented on graphics processing units (GPUs). A GPU-based computation scheme is also developed and customized, which shows >200 times faster than an optimized CPU with single core. Comprehensive validation is also conducted on two simulated scenarios in order to demonstrate the practical values of its potential application in image-guided surgical robotics and humanoid robotic control.
Persistent Identifierhttp://hdl.handle.net/10722/213553
ISBN
ISSN

 

DC FieldValueLanguage
dc.contributor.authorLee, KH-
dc.contributor.authorGuo, Z-
dc.contributor.authorChow, GCT-
dc.contributor.authorChen, Y-
dc.contributor.authorLuk, W-
dc.contributor.authorKwok, KW-
dc.date.accessioned2015-08-05T06:03:06Z-
dc.date.available2015-08-05T06:03:06Z-
dc.date.issued2015-
dc.identifier.citationThe 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA., 26-30 May 2015. In Conference Proceedings, 2015, p. 4405-4411-
dc.identifier.isbn978-1-4799-6923-4-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/213553-
dc.description.abstractThis paper presents a novel proximity query (PQ) approach capable to detect the collision and calculate the minimal Euclidean distance between two non-convex objects in 3D, namely the robot and the environment. Such approaches are often considered as computationally demanding problems, but are of importance to many applications such as online simulation of haptic feedback and robot collision-free trajectory. Our approach enables to preserve the representation of unstructured environment in the form of triangular meshes. The proposed PQ algorithm is computationally parallel so that it can be effectively implemented on graphics processing units (GPUs). A GPU-based computation scheme is also developed and customized, which shows >200 times faster than an optimized CPU with single core. Comprehensive validation is also conducted on two simulated scenarios in order to demonstrate the practical values of its potential application in image-guided surgical robotics and humanoid robotic control.-
dc.languageeng-
dc.publisherIEEE Computer Society. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000639-
dc.relation.ispartofIEEE International Conference on Robotics and Automation Proceedings-
dc.rightsIEEE International Conference on Robotics and Automation Proceedings. Copyright © IEEE Computer Society.-
dc.rights©2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.subjectGraphics processing units (GPUs)-
dc.subjectHaptic feedback-
dc.subjectProximity queries (PQs)-
dc.subjectRobot motion planning-
dc.titleGPU-based proximity query processing on unstructured triangular mesh model-
dc.typeConference_Paper-
dc.identifier.emailChen, Y: ychen14@hkucc-com.hku.hk-
dc.identifier.emailKwok, KW: kwokkw@hku.hk-
dc.identifier.authorityKwok, KW=rp01924-
dc.description.naturepublished_or_final_version-
dc.identifier.doi10.1109/ICRA.2015.7139808-
dc.identifier.hkuros246260-
dc.identifier.hkuros251443-
dc.identifier.spage4405-
dc.identifier.epage4411-
dc.publisher.placeUnited States-
dc.customcontrol.immutablesml 150805-

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