k-IOS: Intersection of spheres for efficient proximity query
- 관리정보기술 faculty
- 등재 SCOPUS
- 발행기관 IEEE
- 발행년도 2012
- 총서유형 Journal
- URI http://www.dcollection.net/handler/ewha/000000131212
- ISBN 9781467314039
- 본문언어 영어
- Published As http://dx.doi.org/10.1109/ICRA.2012.6224889
초록/요약
We present a new bounding volume structure, k-IOS that is an intersection of k spheres, for accelerating proximity query including collision detection and Euclidean distance computation between arbitrary polygon-soup models that undergo rigid motion. Our new bounding volume is easy to implement and highly efficient both for its construction and runtime query. In our experiments, we have observed up to 4.0 times performance improvement of proximity query compared to an existing well-known algorithm based on swept sphere volume (SSV) [1]. Moreover, k-IOS is strictly convex that can guarantee a continuous gradient of distance function with respect to object's configuration parameter. © 2012 IEEE.
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