Collision detection model based on Bounding and containing Boxes

Arcila, Olmedo; Dinas, Simena; Bañón, José M.

doi:10.1109/clei.2012.6427146

Cited by 5 publications

(5 citation statements)

References 59 publications

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“…Several methods can be used to define the orientation of a given point cloud. Among them, the axis-aligned bounding box (AABB) and oriented bounding box (OBB) are the most commonly used [ 21 ], and recent approaches include deep learning and iterative closest point (ICP) algorithms to determine the pose of an object [ 22 ]. For the purposes of this research in terms of simplicity, 3D principal component analysis (PCA) is a valuable tool to approximate the dominant data direction within entire data sets and is also the algorithm behind the calculation of an OBB for a given point cloud.…”

Section: Methodsmentioning

confidence: 99%

“…The most commonly used bounding volumes to “wrap” or encapsulate a point cloud are AABB, oriented bounding boxes OBB, and spheres [ 21 ], with most research focusing on applications such as collision avoidance and 3D reconstruction. In the current case, the sphere is the most generalized shape because its equation only requires a radius and the center coordinates, making computation easier in a variety of applications.…”

Section: Methodsmentioning

confidence: 99%

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Autonomous Trajectory Planning for Spray Painting on Complex Surfaces Based on a Point Cloud Model

Nieto Bastida,

Lin

2023

Sensors

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Using teach pendants or offline programming methods can generate tool paths for robot manipulators to carry out production activities, such as spray painting on objects of different geometries. This task, in which the complexity of painting the surface is one of the main challenges, requires highly skilled operators. In addition, the time spent setting up a robot task can be justified for the mass production of the same workpiece. However, it is inconvenient for low-production and high-variation production lines. In order to overcome these challenges, this study presents an algorithm to autonomously generate robot trajectories for a spray-painting process applied to objects with complex surfaces based on input 3D point cloud data. A predefined spherical mesh wraps the object, organizing the geometrical attributes into a structured data set. Subsequently, the region of interest is extracted and isolated from the model, which serves as the basis for the automatic path-planning operation. A user-friendly graphical user interface (GUI) is developed to define input parameters, visualize the point cloud model and the generated trajectory, simulate paint quality using a color map, and ultimately generate the robot’s code. A 3D sensor is used to localize the pose of the workpiece ahead of the robot and adjust the robot’s trajectory. The efficacy of the proposed approach is validated first by using various workpieces within a simulated environment and second by employing a real robot to execute the motion task.

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Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Autonomous Trajectory Planning for Spray Painting on Complex Surfaces Based on a Point Cloud Model

Nieto Bastida,

Lin

2023

Sensors

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“…Collision detection research studies have been performed well by many top researchers in various fields such as computational geometry, robotics, computer games and animation and computer graphics [3,[8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24]. Some of the main references for other researcher in term of survey papers are [22,[25][26][27][28][29][30][31][32].…”

Section: Research Backgroundmentioning

confidence: 99%

Distance approximation using pivot point in narrow phase collision detection

Sulaiman

Othman

Salahuddin

et al. 2013

2013 3rd International Conference on Instrumentation, Communications, Information Technology and Biomedical Engineering (ICICI-

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Discrete and Continuous Collision Detection is two common fields in Collision Detection research area where it helps to determine time and point of contact when two object intersect. Each technique increase speed and accuracy of the simulation itself but depending on application, we need to have specific solution of collision detection technique. Most computer games and simulation maintain speed as the main important elements while others such as medical and mechanical simulation needs to have a very high precision collision detection technique. Thus, an algorithm for the optimal distance computation algorithm for continuous collision detection is shown in this paper. The basic idea is to use an AABB for both object triangles and creating a moveable origin point called Dynamic Origin Point (DyOP). DyOP created by using minimum and maximum point of bothAABBs where it dynamically changes whenever the object move. This is a novel algorithm that works better than the previously known Gilbert Keerthi-Johnson algorithm and Lin-Canny algorithm where it helps to reduce the complicated test and implementation. We have shown that our technique is performed faster than the previous algorithms by increasing speed and nearly approximate the good distance between two nearly intersected triangles.

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“…The purpose is to quickly eliminate a large number of non-intersecting objects to improve the detection speed by different detection methods. Reference [10] proposed a double-representation model. The kinetic AABB tree was used in reference [8], which was easily extended for continuous collision detection of deformable objects.…”

Section: Introductionmentioning

confidence: 99%

“…The kinetic AABB tree was used in reference [8], which was easily extended for continuous collision detection of deformable objects. A new collision detection algorithm based on classified traversal was proposed [9], which was optimized by using the temporal spatial coherence and priority strategy.…”

Section: Introductionmentioning

confidence: 99%

Research on Collision Detection in Virtual Teaching of Palletizing Robot Based on K-DOPS Bounding Box

Dai¹,

Yin²,

Zhang³

et al. 2017

dtcse

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Abstract. Palletizing robot virtual teaching has become a trend, which can solve the practical teaching work which occupies a long time problem of robot. Based on dynamic dimension k-DOPs bounding box algorithm and according to space detection object density dynamic selection bounding box algorithm, a complete collision detection algorithm is put forward in the paper. The experiments prove that this algorithm can improve the speed of collision detection, and can be used in virtual simulation system.

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Collision detection model based on Bounding and containing Boxes

Cited by 5 publications

References 59 publications

Autonomous Trajectory Planning for Spray Painting on Complex Surfaces Based on a Point Cloud Model

Autonomous Trajectory Planning for Spray Painting on Complex Surfaces Based on a Point Cloud Model

Distance approximation using pivot point in narrow phase collision detection

Research on Collision Detection in Virtual Teaching of Palletizing Robot Based on K-DOPS Bounding Box

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