TY - GEN
T1 - Hybrid penetration depth computation using local projection and machine learning
AU - Kim, Yeojin
AU - Manocha, Dinesh
AU - Kim, Young J.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/11
Y1 - 2015/12/11
N2 - We present a new hybrid approach to computing penetration depth (PD) for general polygonal models. Our approach exploits both local and global approaches to PD computation and can compute error-bounded PD approximations for both deep and shallow penetrations. We use a two-step formulation: the first step corresponds to a global approximation approach that samples the configuration space with bounded error using support vector machines; the second step corresponds to a local optimization that performs a projection operation refining the penetration depth. We have implemented this hybrid algorithm on a standard PC platform and tested its performance with various benchmarks. The experimental results show that our algorithm offers significant benefits over previously developed local-only and global-only methods used to compute the PD.
AB - We present a new hybrid approach to computing penetration depth (PD) for general polygonal models. Our approach exploits both local and global approaches to PD computation and can compute error-bounded PD approximations for both deep and shallow penetrations. We use a two-step formulation: the first step corresponds to a global approximation approach that samples the configuration space with bounded error using support vector machines; the second step corresponds to a local optimization that performs a projection operation refining the penetration depth. We have implemented this hybrid algorithm on a standard PC platform and tested its performance with various benchmarks. The experimental results show that our algorithm offers significant benefits over previously developed local-only and global-only methods used to compute the PD.
UR - http://www.scopus.com/inward/record.url?scp=84958164255&partnerID=8YFLogxK
U2 - 10.1109/IROS.2015.7354052
DO - 10.1109/IROS.2015.7354052
M3 - Conference contribution
AN - SCOPUS:84958164255
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4804
EP - 4809
BT - IROS Hamburg 2015 - Conference Digest
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Y2 - 28 September 2015 through 2 October 2015
ER -