NDLI: FCL: A general purpose library for collision and proximity queries

Content Provider	IEEE Xplore Digital Library
Author	Jia Pan Chitta, S. Manocha, D.
Copyright Year	2012
Description	Author affiliation: Willow Garage Inc., Menlo Park, CA 94025, USA (Chitta, S.) \|\| Department of Computer Science, the University of North Carolina, Chapel Hill, USA (Jia Pan; Manocha, D.)
Abstract	We present a new collision and proximity library that integrates several techniques for fast and accurate collision checking and proximity computation. Our library is based on hierarchical representations and designed to perform multiple proximity queries on different model representations. The set of queries includes discrete collision detection, continuous collision detection, separation distance computation and penetration depth estimation. The input models may correspond to triangulated rigid or deformable models and articulated models. Moreover, FCL can perform probabilistic collision checking between noisy point clouds that are captured using cameras or LIDAR sensors. The main benefit of FCL lies in the fact that it provides a unified interface that can be used by various applications. Furthermore, its flexible architecture makes it easier to implement new algorithms within this framework. The runtime performance of the library is comparable to state of the art collision and proximity algorithms. We demonstrate its performance on synthetic datasets as well as motion planning and grasping computations performed using a two-armed mobile manipulation robot.
Starting Page	3859
Ending Page	3866
File Size	1475942
Page Count	8
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225337
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Deformable models Computational modeling Robots Collision avoidance Libraries Shape Charge coupled devices
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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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