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

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

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

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

Department of Computer Science & Engineering

Research output: Contribution to journal › Conference article › peer-review

62 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 language	English
Pages (from-to)	921-926
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
State	Published - 2002
Event	2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States Duration: 11 May 2002 → 15 May 2002

Keywords

Incremental algorithm
Minkowski sums
Penetration depth

Cite this

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title = "DEEP: Dual-space expansion for estimating penetration depth between convex polytopes",

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.",

keywords = "Incremental algorithm, Minkowski sums, Penetration depth",

author = "Kim, \{Young J.\} and Lin, \{Ming C.\} and Dinesh Manocha",

year = "2002",

language = "English",

volume = "1",

pages = "921--926",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "2002 IEEE International Conference on Robotics and Automation ; Conference date: 11-05-2002 Through 15-05-2002",

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TY - JOUR

T1 - DEEP

T2 - 2002 IEEE International Conference on Robotics and Automation

AU - Kim, Young J.

AU - Lin, Ming C.

AU - Manocha, Dinesh

PY - 2002

Y1 - 2002

N2 - 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.

AB - 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.

KW - Incremental algorithm

KW - Minkowski sums

KW - Penetration depth

UR - https://www.scopus.com/pages/publications/0036058375

M3 - Conference article

AN - SCOPUS:0036058375

SN - 1050-4729

VL - 1

SP - 921

EP - 926

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

Y2 - 11 May 2002 through 15 May 2002

ER -

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

Abstract

Keywords

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