NDLI: Real-time and Accurate Multiple Contact Detection between General Curved Objects

Content Provider	IEEE Xplore Digital Library
Author	Wusheng Chou Jing Xiao
Copyright Year	2006
Description	Author affiliation: Dept. of Comput. Sci., North Carolina Univ., Charlotte, NC (Wusheng Chou; Jing Xiao)
Abstract	Contact detection based on computing minimum distance is a fundamental issue important to many applications. A largely unsolved problem is how to detect multiple contacts that are formed simultaneously between non-convex and non-polyhedral general objects both accurately and in real-time. This paper presents an effective solution to the problem. Our approach first locates the pairs of closest components by fast intersection checking based on hybrid bounding volume hierarchies of surface components. For each pair of such components, it then finds the pairs of closest points and corresponding pairs of closest parametric features by combining collision detection or minimum distance query between polygonal meshes of those components and exact distance computation between the parametric features. Implementation results show that this approach can compute multiple simultaneous contacts between general objects both very accurately and efficiently in the order of several milliseconds regardless of the numbers of features on the objects
Starting Page	556
Ending Page	561
File Size	7349579
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282364
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Object detection Computer science USA Councils Motion detection Robotic assembly Haptic interfaces Equations Intelligent robots Real time systems Electrical capacitance tomography real time multiple contact detection curved objects minimum distance computation collision detection
Content Type	Text
Resource Type	Article

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