Abstract
The goal of this paper is to improve the efficiency of collision detection algorithms applied to highly complex geometry scenes not having geometry coherence. Efficiency is improved by reducing the number of objects to be checked for collisions and accelerating the fundamental repeating checks on which the collision detection process relies. The number of objects to be checked is decreased by combining hierarchical representation techniques with incremental methods. The fundamental repeating check, actually a collision check between two bounding boxes, is accelerated by using 3D bounding boxes each having an associated transformation for mapping its vertices from a local to a world coordinate system (CS). This acceleration is based on the observation that two boxes (A andB) intersect if and only if the projections ofA andB intersect on all three axis-aligned orthographic views, both forA in the local CS ofB and forB in the local CS ofA. These algorithms have been successfully implemented in simulating dynamic scenes with high geometry complexity and as avirtual collision detection sensor for off-line robot motion planning.
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Benchetrit, U., Lenz, E. & Shoham, M. Collision detection in static and dynamic complex scenes not having geometry coherence. Int J Adv Manuf Technol 14, 70–76 (1998). https://doi.org/10.1007/BF01179419
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DOI: https://doi.org/10.1007/BF01179419