The efficiency of Probabilistic Roadmaps (PRM) depends on the number of samples in free configuration space and computation time to connect such samples. Key idea of this approach is to generate samples with bounding volume expansion and connect free samples based on geometric characteristics so that straight–line local planner does not do collision check while it connects a sample to another. ...

Most axis-aligned bounding-box (AABB) based BVH-construction algorithms are numerically robust; however, BVH ray traversal algorithms for ray tracing are still susceptible to numerical precision errors. We show where these errors come from and how they can be efficiently avoided during traversal of BVHs that use AABBs.

In this paper a novel hopping robot is introduced that uses inverse pendulum dynamics to induce several different gaits. Its mechanical structure consists of a rigid inverted T-shape mounted on four compliant feet. An upright “T” structure is connected to this by a rotary joint. The horizontal beam of the upright “T” is connected to the vertical beam by a second rotary joint. Using this two deg...

Tree-based multidimensional indexes are integral to efficient querying in multimedia and GIS applications. These indexes frequently use shapes in internal tree nodes to describe the data stored in a subtree below. We show that the standard Minimum Bounding Rectangle descriptor can lead to significant inefficiency during tree traversal, due to false positives. We also observe that there is often...

In this paper, we propose a procedure that directly polygonizes the boundary surface of CSG solids. The procedure consists of a preprocessing step and a polygonization process followed by a postprocessing that recovers rounded edges and corners. In the preprocessing step, the minimum bounding volumes, called S-bounds, of all nodes in the given CSG tree are computed and then used as a basis for ...

Most axis-aligned bounding-box (AABB) based BVH-construction algorithms are numerically robust; however, BVH ray traversal algorithms for ray tracing are still susceptible to numerical precision errors. We show where these errors come from and how they can be efficiently avoided during traversal of BVHs that use AABBs.

In moving object databases, researches on the spatio-temporal access method are very important for the efficient search of moving object location in ITS, LBS, and Telematics. Recently, researches are being made actively on the efficient management of the current location of moving objects and on the estimation of future location using information such as the current location and moving pattern ...

Space-filling curves can be used to organise points in the plane into bounding-box hierarchies (such as R-trees). We develop measures of the bounding-box quality of space-filling curves that express how effective different space-filling curves are for this purpose. We give general lower bounds on the bounding-box quality measures and on locality according to Gotsman and Lindenbaum for a large c...

We present a novel approach to ray tracing execution on commodity graphics hardware using CUDA. We decompose a standard ray tracing algorithm into several data-parallel stages that are mapped efficiently to the massively parallel architecture of modern GPUs. These stages include: ray sorting into coherent packets, creation of frustums for packets, breadth-first frustum traversal through a bound...

This paper describes a method for determining the minimum bounding box of an arbitrary solid. The method simplifies the complex three-dimensional problem by projecting the solid onto the three principal planes and makes use of the projected contours for analysis. The orientations of the contours are determined by rotating them within a specific angle range. These orientations are then used to a...