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Related Experiment Videos

Incremental penetration depth estimation between convex polytopes using dual-space expansion.

Young J Kim1, Ming C Lin, Dinesh Manocha

  • 1Department of Computer Science and Engineering, Ewha Womans University, Seoul, Korea. kimy@ewha.ac.kr

IEEE Transactions on Visualization and Computer Graphics
|September 24, 2004
PubMed
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This study introduces a rapid algorithm for calculating 3D penetration depth between convex shapes. The method achieves millisecond-level performance, proving efficient for complex models in simulations.

Area of Science:

  • Computational geometry
  • Computer graphics
  • Robotics

Background:

  • Estimating collision depth is crucial for real-time simulations.
  • Existing methods can be computationally expensive, limiting their application.

Purpose of the Study:

  • To develop a fast and efficient algorithm for 3D penetration depth estimation.
  • To improve the performance of collision detection in complex environments.

Main Methods:

  • An incremental algorithm that walks on the surface of Minkowski sums.
  • Implicit surface computation using local dual mapping on the Gauss map.
  • Heuristic techniques for estimating initial features.

Main Results:

  • The algorithm estimates penetration depth in approximately one millisecond on a 1 GHz Pentium PC.

Related Experiment Videos

  • Performance is largely independent of model complexity in highly coherent environments.
  • Demonstrated significant speed improvements over previous approaches.

    • Conclusions:

    • The presented algorithm offers a computationally efficient solution for 3D penetration depth estimation.
    • Its speed and robustness make it suitable for real-time applications in graphics and robotics.
    • The approach effectively handles complex models with high temporal coherence.