NDLI: The Gilbert-Johnson-Keerthi distance algorithm: a fast version for incremental motions

Content Provider	IEEE Xplore Digital Library
Author	Chong Jin Ong Gilbert, E.G.
Copyright Year	1997
Description	Author affiliation: Dept. of Mech. & Production Eng., Nat. Univ. of Singapore, Singapore (Chong Jin Ong)
Abstract	An algorithm is presented for computing the Euclidean distance between a pair of objects represented by convex polytopes in three dimensional space. It is a fast version of the well known algorithm by Gilbert, Johnson and Keerthi (1988) in which the polytopes are characterized by their vertices. The improvement in speed comes from the inclusion of additional structural information on the objects; for each vertex there is a list of adjacent vertices. No other information or preprocessing of data is needed. Following Cameron, the adjacency structures are used to greatly reduce the number of inner product evaluations needed to compute the polytope support functions used in the original Gilbert-Johnson-Keerthi algorithm. When the algorithm is applied to a pair of objects that move incrementally along smooth paths, it shares the advantage of the incremental distance algorithm introduced by Lin and Canny (1991). Algorithmic details and performance issues are developed fully. Computational experiments provide quantitative data on the effects of object complexity and the size of incremental object motions.
Starting Page	1183
Ending Page	1189
File Size	753214
Page Count	7
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.614298
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Aerospace testing Production engineering Euclidean distance Time sharing computer systems Robots Path planning Computer graphics Application software Robustness Data structures
Content Type	Text
Resource Type	Article

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