We present techniques to efficiently compute the distance under max-norm between a point and a wide class of geometric primitives. We formulate the distance computation as an optimization problem and use this framework to design efficient algorithms for convex polytopes, algebraic primitives and triangulated models. We extend them to handle large models using bounding volume hierarchies, and us...

We present a novel massively-parallel algorithm that allows real-time distance computations between arbitrary 3D objects and unstructured point cloud data. Our main application scenario is collision avoidance for robots in highly dynamic environments that are recorded via a Kinect, but our algorithm can be easily generalized for other applications such as virtual reality. Basically, we represen...

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 ...

Purpose – The purpose of this paper is to propose a physically plausible solution based on hybrid bounding volume (BV) hierarchy for real-time collision detection (CD) and response between a deformable and a rigid object. Design/methodology/approach – Hybrid BV can be used to build BV hierarchy for the deformable object. The overlapping tests based on separating axis theorem (SAT) can be used t...

A new simulation and verification system of belt grinding with industrial robots is presented in this paper. The workpiece surface is represented by a discrete height field, an array of extended height segments, and a fast collision detection algorithm using k-DOP bounding volumes is adopted to accelerate the localization of the contact area. A local grinding model is incorporated to decide the...

Finding the minimum distance between two obstacles is very crucial for robot path planning and localization, especially for the cleaning and industrial robots. Knowledge of minimum distance is needed for a mobile robot to avoid the obstacles and have the efficient trajectory. This problem has been solved in many different ways. In this paper we present an approach to find the minimum distance b...

Urban simulation research has become important recently as researchers in computer graphics been motivated to visualised urban environment area in real time simulation. One of urban simulation elements that need to be considered is detecting object interference between static hard objects. Detecting object interference is essential in many three-dimensional (3D) application areas such as virtua...

Point clouds models are a common shape representation for several reasons. Three-dimensional scanning devices are widely used nowadays and points are an attractive primitive for rendering complex geometry. Nevertheless, there is not much literature on collision detection for point cloud models. This paper presents a novel collision detection algorithm for point cloud models. The scene graph is ...

In this paper we present an algorithm for 3-dimensional orthogonal graph drawing based on the movement of vertices from an initial layout along the main diagonal of a cube. For an n-vertex m-edge graph with maximum degree six, the algorithm produces drawings with bounding box volume at most 2.37n and with a total of 7m/3 bends, using no more than 4 bends per edge route. For maximum degree five ...