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Collision detection for point cloud models with bounding spheres hierarchies.
| Content Provider | CiteSeerX |
|---|---|
| Author | Figueiredo, Mauro Pereira, João Oliveira, João Araújo, Bruno Redol, Rua Alves |
| Abstract | Abstract � Point cloud models are a common shape representation for several reasons. Three-dimensional scanning devices are widely used nowadays and points are an attractive primitive for rendering complex geometry. Nevertheless, there is not much literature on collision detection for point cloud models. This paper presents a novel collision detection algorithm for large point cloud models using voxels, octrees and bounding spheres hierarchies (BSH). The scene graph is divided in voxels. The objects of each voxel are organized intoan octree. Due to the high number of points in the scene, each non-empty cell of the octree is organized in a bounding sphere hierarchy, based on an R-tree hierarchy like structure. The BSH hierarchies are used to group neighboring points and filter out very quickly parts of objects that do not interact with other models. Points derived from laser scanned data typically are not segmented |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Collision Detection Point Cloud Model Bounding Sphere Hierarchy Common Shape Representation Three-dimensional Scanning Device Complex Geometry Bsh Hierarchy High Number Abstract Point Cloud Model Scene Graph Attractive Primitive Non-empty Cell Much Literature Intoan Octree Sphere Hierarchy Large Point Cloud Model R-tree Hierarchy Novel Collision Detection Algorithm Several Reason |
| Content Type | Text |
| Resource Type | Article |
