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Conference Paper: Efficient continuous collision detection for bounding boxes under rational motion

TitleEfficient continuous collision detection for bounding boxes under rational motion
Authors
KeywordsComputers
Automation computers
Robotics
Issue Date2006
PublisherIEEE, Computer Society.
Citation
Proceedings - Ieee International Conference On Robotics And Automation, 2006, v. 2006, p. 3017-3022 How to Cite?
AbstractThis paper presents a simple yet precise and efficient algorithm for collision prediction of two oriented bounding boxes under univariate (piecewise) rational motion. We present an analytic solution to the problem of finding the time of collision and the feature involved, or declaring that no collision should occur. Our solution can be applied to boxes of any size, under arbitrary rational rigid motion. The algorithm is based on the efficient examination of the Minkowski sum (MS) of the two boxes, using a spherical Gauss map dual representation, and a precise extraction of the collision time, if any, as a solution to a set of rational equations that are automatically derived. © 2006 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/45561
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorAlbocher, Den_HK
dc.contributor.authorSarel, Uen_HK
dc.contributor.authorChoi, YKen_HK
dc.contributor.authorElber, Gen_HK
dc.contributor.authorWang, Wen_HK
dc.date.accessioned2007-10-30T06:29:12Z-
dc.date.available2007-10-30T06:29:12Z-
dc.date.issued2006en_HK
dc.identifier.citationProceedings - Ieee International Conference On Robotics And Automation, 2006, v. 2006, p. 3017-3022en_HK
dc.identifier.issn1050-4729en_HK
dc.identifier.urihttp://hdl.handle.net/10722/45561-
dc.description.abstractThis paper presents a simple yet precise and efficient algorithm for collision prediction of two oriented bounding boxes under univariate (piecewise) rational motion. We present an analytic solution to the problem of finding the time of collision and the feature involved, or declaring that no collision should occur. Our solution can be applied to boxes of any size, under arbitrary rational rigid motion. The algorithm is based on the efficient examination of the Minkowski sum (MS) of the two boxes, using a spherical Gauss map dual representation, and a precise extraction of the collision time, if any, as a solution to a set of rational equations that are automatically derived. © 2006 IEEE.en_HK
dc.format.extent544706 bytes-
dc.format.extent3373 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
dc.languageengen_HK
dc.publisherIEEE, Computer Society.en_HK
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automationen_HK
dc.rights©2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.en_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.subjectComputersen_HK
dc.subjectAutomation computersen_HK
dc.subjectRoboticsen_HK
dc.titleEfficient continuous collision detection for bounding boxes under rational motionen_HK
dc.typeConference_Paperen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=1050-4729&volume=&spage=3017&epage=3022&date=2006&atitle=Efficient+continuous+collision+detection+for+bounding+boxes+under+rational+motionen_HK
dc.identifier.emailChoi, YK:ykchoi@cs.hku.hken_HK
dc.identifier.emailWang, W:wenping@cs.hku.hken_HK
dc.identifier.authorityChoi, YK=rp00106en_HK
dc.identifier.authorityWang, W=rp00186en_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/ROBOT.2006.1642160en_HK
dc.identifier.scopuseid_2-s2.0-33845675079en_HK
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-33845675079&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume2006en_HK
dc.identifier.spage3017en_HK
dc.identifier.epage3022en_HK
dc.publisher.placeUnited Statesen_HK
dc.identifier.scopusauthoridAlbocher, D=14038813800en_HK
dc.identifier.scopusauthoridSarel, U=15726266200en_HK
dc.identifier.scopusauthoridChoi, YK=7404777348en_HK
dc.identifier.scopusauthoridElber, G=7005490111en_HK
dc.identifier.scopusauthoridWang, W=35147101600en_HK

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