We present a new approach to perform robust proximity queries between noisy point cloud data. Our approach takes into account the uncertainty that arises due to discretization error and noise, and formulates contact computation as a twoclass classification problem. We use appropriate techniques from machine learning to compute the collision probability for each point in the input data and accel...

We propose a simple modiication to the classical polygon rasterization pipeline that enables exact, eecient raycasting of bounded implicit surfaces without the use of a global spatial data structure or bounding hierarchy. Our algorithm requires two descriptions for each object: a (possibly non-convex) polyhedral bounding volume, and an implicit equation (including, optionally, a number of clipp...

This paper describes a technique to improve the rendering time of volumetric datasets using a volumetric skeleton. The skeleton is used to define a hierarchical set of bounding spheres which completely encapsulate the volume, enabling efficient space leaping during the ray casting and ray tracing processes. The spheres can also be used to cull portions of the dataset, i.e. by specifying logical...

Collision detection is an important application in the field of virtual reality, and efficiently completing collision detection has become the research focus. For the poorly real-time defect of collision detection, this paper has presented an algorithm based on the hybrid collision detection, detecting the potential collision object sets quickly with the mixed bounding volume hierarchy tree, an...

Mission planners can benefit from determining regions of space occluded by terrain from sensor positions, e.g. in order to determine ingress and egress paths. Conventional approaches to computing occlusion using 2D or 2.5D representations of terrain are inefficient and do not scale well. Binary Adaptive Ray Casting uses intersection calculations accelerated by 3D hierarchical bounding volumes t...

We present a new ray tracing algorithm that requires no explicit acceleration data structure and therefore no memory. It is represented in a completely implicit way by triangle reordering. This new implicit data structure is simple to build, efficient to traverse and has a fast total time to image. The implicit acceleration data structure must be constructed only once and can be reused for arbi...

The radial view-based culling (RVBC) method has been presented for continuous self-collision detection to efficiently cull away noncolliding regions. While this technique mainly relies on the segmented clusters of the reference pose and the associated fixed observer points, it has several drawbacks during the animation and the reduced cost of executing collision detection is limited. We thus pr...

Bounding volume hierarchies are a popular choice for ray tracing animated scenes due to the relative simplicity of refitting bounding volumes around moving geometry. However, the quality of such a refitted tree can degrade rapidly if objects in the scene deform or rearrange significantly as the animation progresses, resulting in dramatic increases in rendering times. Existing solutions involve ...

With CPUs moving towards many-core architectures and GPUs becoming more general purpose architectures, path tracing can now be well parallelized on commodity hardware. While parallelization is trivial in theory, properties of real hardware make efficient parallelization difficult, especially when tracing incoherent rays. We investigate how different bounding volume hierarchy (BVH) and node memo...

We present a six-degree-of-freedom haptic rendering algorithm using localized contact computations. It takes advantage of high motion coherence due to fast force update and spatial locality near the contact regions. We first decompose the surface of each polyhedron into convex pieces and construct bounding volume hierarchies for fast proximity queries. Once the objects are intersecting, the pen...