DEEP: Dual-space expansion for estimating penetration depth between convex polytopes

Young J. Kim, Ming C. Lin, Dinesh Manocha

Research output: Contribution to journalConference articlepeer-review

61 Scopus citations

Abstract

We present an incremental algorithm to estimate the penetration depth between convex polytopes in 3D. The algorithm incrementally seeks a "locally optimal solution" by walking on the surface of the Minkowski sums. The surface of the Minkowski sums is computed implicitly by constructing a local Gauss map. In practice, the algorithm works well when there is high motion coherence in the environment and is able to compute the optimal solution in most cases.

Original languageEnglish
Pages (from-to)921-926
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
StatePublished - 2002
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: 11 May 200215 May 2002

Keywords

  • Incremental algorithm
  • Minkowski sums
  • Penetration depth

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