C2A: Controlled conservative advancement for continuous collision detection of polygonal models

Min Tang, Young J. Kim, Manocha Dinesh

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

43 Scopus citations

Abstract

We present a simple and fast algorithm to perform continuous collision detection between polygonal models undergoing rigid motion for interactive applications. Our approach can handle all triangulated models and makes no assumption about the underlying geometry and topology. The algorithm uses the notion of conservative advancement (CA), originally developed for convex polytopes [1], [2]. We extend this formulation to general models using swept sphere volume hierarchy and present a compact formulation to compute the motion bounds along with a novel controlling scheme. We have implemented the algorithm and highlight its performance on various benchmarks. In practice, our algorithm can perform continuous collision queries in few milli-seconds on modelscomposed of tens of thousands of triangles.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages849-854
Number of pages6
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: 12 May 200917 May 2009

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2009 IEEE International Conference on Robotics and Automation, ICRA '09
Country/TerritoryJapan
CityKobe
Period12/05/0917/05/09

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