TY - GEN
T1 - k-IOS
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
AU - Zhang, Xinyu
AU - Kim, Young J.
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84864450226&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6224889
DO - 10.1109/ICRA.2012.6224889
M3 - Conference contribution
AN - SCOPUS:84864450226
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 354
EP - 359
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 14 May 2012 through 18 May 2012
ER -