NDLI: Continuous collision detection for non-rigid contact computations using local advancement

Content Provider	IEEE Xplore Digital Library
Author	Min Tang Kim, Y.J. Manocha, D.
Copyright Year	2010
Description	Author affiliation: Department of Computer Science and Engineering at Ewha Womans University in Seoul, Korea (Min Tang; Kim, Y.J.) \|\| Department of Computer Science at the University of North Carolina at Chapel Hill, U.S.A. (Manocha, D.)
Abstract	We present a novel algorithm to perform continuous collision detection(CCD) between non-rigid, deformable models using local advancement. Given the initial and final configurations of a deformable model, our algorithm computes linear deformation by interpolating the vertices from the initial to the final configurations with a straight line path and checks for collision along that path. Our approach is applicable to polygon-soup models with arbitrary topology, handles self-collisions and makes no assumption about the underlying non-rigid motion. We accelerate the algorithm by computing motion bounds on the primitives and their bounding volumes. These bounds are combined with hierarchical culling techniques and used for fast collision checking. In practice, we have observed up to four times improvement in running time because of local advancement.
Starting Page	4016
Ending Page	4021
File Size	1129788
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509210
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Deformable models Charge coupled devices Testing Acceleration Grasping Computer science Performance evaluation Robotics and automation USA Councils Topology
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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