@inproceedings{ce2d4763046d4424beceeb1e45bf92cd,
title = "k-IOS: Intersection of spheres for efficient proximity query",
abstract = "We present a new bounding volume structure, k-IOS that is an intersection of k spheres, for accelerating proximity query including collision detection and Euclidean distance computation between arbitrary polygon-soup models that undergo rigid motion. Our new bounding volume is easy to implement and highly efficient both for its construction and runtime query. In our experiments, we have observed up to 4.0 times performance improvement of proximity query compared to an existing well-known algorithm based on swept sphere volume (SSV) [1]. Moreover, k-IOS is strictly convex that can guarantee a continuous gradient of distance function with respect to object's configuration parameter.",
author = "Xinyu Zhang and Kim, {Young J.}",
year = "2012",
doi = "10.1109/ICRA.2012.6224889",
language = "English",
isbn = "9781467314039",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "354--359",
booktitle = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012",
note = "null ; Conference date: 14-05-2012 Through 18-05-2012",
}