Research on Collision Detection Algorithm Based on AABB

Wang, Xiaorong; Wang, Meng; Li, Chungui

doi:10.1109/icnc.2009.196

Cited by 12 publications

(8 citation statements)

References 7 publications

(8 reference statements)

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“…Analytical methods, geometric methods, accurate techniques, hierarchical representations, and optimization methods are frequently used (Lin & Gottschalk, 1998). Collision detection is an important topic in areas like robotics, physics modeling, animation, geometric modeling, and video games among others (Bing et al, 2009;Xiao-Rong et al, 2009;Zhigang et al, 2010). Searching for and finding collisions between objects are critical problems based on solving an intersection point or area between objects.…”

Section: Collision Detectionmentioning

confidence: 99%

“…Other accurate techniques involve mesh, for instance, level of details and triangulation to compare polyhedral by using a face-face test. Several approximations to the solution can be found in the literature; nevertheless, most of them can be classified into three categories: i) geometrics, ii) bounding volume hierarchies, and iii) spatial subdivision (Xiao-Rong et al, 2009). Geometric approaches are based on analyzing the shape of each model, tracking and capturing the closest features between two or more models; for more details, see (Mirtich, 1998).…”

Section: Collision Detectionmentioning

confidence: 99%

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Revisión de literatura de jerarquía volúmenes acotantes enfocados en detección de colisiones

Dinas

Bañón

2015

IyC

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A bounding volume is a common method to simplify object representation by using the composition of geometrical shapes that enclose the object; it encapsulates complex objects by means of simple volumes and it is widely useful in collision detection applications and ray tracing for rendering algorithms. They are popular in computer graphics and computational geometry. Most popular bounding volumes are spheres, Oriented-Bounding Boxes (OBB's), Axis-Aligned Bounding Boxes (AABB's); moreover, the literature review includes ellipsoids, cylinders, sphere packing, sphere shells, k-DOP's, convex hulls, cloud of points, and minimal bounding boxes, among others. A Bounding Volume Hierarchy is usually a tree in which the complete object is represented tighter fitting every level of the hierarchy. Additionally, each bounding volume has a cost associated to construction, update, and interference tests. For instance, spheres are invariant to rotation and translations, then they do not require being updated; their constructions and interference tests are more straightforward then OBB's; however, their tightness is lower than other bounding volumes. Finally, three comparisons between two polyhedra; seven different algorithms were used, of which five are public libraries for collision detection. Keywords: Axis-aligned bounding box (AABB), bounding volumes hierarchies, convex objects, oriented bounding box (OBB), spheres. ResumenUn volumen acotante es un método común para simplificar la representación de los objetos por medio de composición de formas geométricas que encierran el objeto; estos encapsulan objetos complejos por medio de volúmenes simples y son ampliamente usados en aplicaciones de detección de colisiones y trazador de rayos para algoritmos de renderización. Los volúmenes acotantes son populares en computación gráfica y en geometría computacional; los más populares son las esferas, las cajas acotantes orientadas (OBB's) y las cajas acotantes alineadas a los ejes (AABB's); no obstante, la literatura incluye elipses, cilindros empaquetamiento de esferas, conchas de esferas, k-DOP's, convex hulls, nubes de puntos y cajas acotantes mínimas, entre otras. Una jerarquía de volúmenes acotantes es usualmente un árbol, en el cual la representación de los objetos es más ajustada en cada uno de los niveles de la jerarquía. Adicionalmente, cada volumen acotante tiene asociado costos de construcción, actualización, pruebas de interferencia. Por ejemplo, las esferas so invariantes a rotación y translación, por lo tanto no requieren ser actualizadas en comparación con los AABB no son invariantes a la rotación. Por otro lado la construcción y las pruebas de solapamiento de las esferas son más simples que los OBB's; sin embargo, el ajuste de las esferas es menor que otros volúmenes acotantes. Finalmente, se comparan dos poliedros con siete algoritmos diferentes de los cuales cinco son librerías públicas para detección de colisiones. Palabras Clave: Cajas acotantes orientadas (CAO), cajas acotantes alineadas a los ejes (CAAE), ...

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Section: Collision Detectionmentioning

confidence: 99%

Section: Collision Detectionmentioning

confidence: 99%

Revisión de literatura de jerarquía volúmenes acotantes enfocados en detección de colisiones

Dinas

Bañón

2015

IyC

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“…The fundamental principle of Collision detection technology is that if two completely sealed polyhedrons come into collision, at least one surface of one polyhedron intersects with at least one surface of another one. A suitable response that modifying the physical properties of virtual objects should be made when a collision is detected [5] . c)Behavioral Modeling.Behavioral Modeling is to endow the model inherent characteristics or properties as soon as they are created [6] .…”

Section: Bmentioning

confidence: 99%

Research and Implementation of Virtual Building Roamming System Based on VRML

Lin¹

2013

Proceedings of the 2013 International Workshop on Computer Science in Sports

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Research and implementation of virtual building roaming is a new technology rised recently.It can use 3D modeling tools, VRML tools and X3D browser software to complete the roamming system.This paper introduces the development method,technology and process,and takes the Fragrant Hill Park for example, completes the virtual roamming system. The system is realistic and provides users proper real sense.

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“…To tightly fit the different volumes of the robot, researchers have developed algorithms to build each convex polyhedral model. Examples include the tight-fitting oriented bounding box trees (OBB) algorithm [5], and the axis-aligned bounding boxes (AABB) algorithm [6]. Many algorithms have been proposed to calculate the distance in convex polyhedral models such as the fast and robust polyhedral collision detection (V-Clip) algorithm [7].…”

Section: Introductionmentioning

confidence: 99%

Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm Robots

et al. 2020

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Self-collisions of a dual-arm robot system can cause severe damage to the robot. To deal with this problem, this paper presents a real-time algorithm for preventing self-collisions in dual-arm systems. Our first contribution in this work is a novel collision model built using discrete spherical bounding volumes with different radii. In addition, we propose a sensitivity index to measure the distance between spheres with different radii in real time. Next, according to the minimal sensitivity index between different spheres, the repulsive velocity is produced at the centers of the spheres (control points), which the robot uses to generate new motion based on the robot kinematic model. The proposed algorithm offers the additional benefits of a decrease in the number of bounding spheres, and a simple collision model that can effectively decrease the computational cost of the process. To demonstrate the validity of the algorithm, we performed simulations and experiments by an upper-body humanoid robot. Although the repulsive velocity acted on the control points, the results indicate that the algorithm can effectively achieve self-collision avoidance by using a simple collision model.

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Research on Collision Detection Algorithm Based on AABB

Cited by 12 publications

References 7 publications

Revisión de literatura de jerarquía volúmenes acotantes enfocados en detección de colisiones

Revisión de literatura de jerarquía volúmenes acotantes enfocados en detección de colisiones

Research and Implementation of Virtual Building Roamming System Based on VRML

Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm Robots

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