Class #4: Collision Detection
The figure on the left shows
a scene in which objects are modeled using several dozen thousand triangles.
Hierarchical methods quickly prune out pairs of triangles that are too far
apart to intersect. The image in the middle shows a “triangulated
cat” and a subset of the sphere hierarchy used to approximate this model
at successive levels (1st required paper). The figure on the right
illustrates the need for “dynamic” collision checking (2nd
- Role of collision detection and distance computation in motion planning
- Bounding Volume Hierarchy (BVH) approach
- Static vs. dynamic collision checking
- Fixed vs. adaptive bisection in dynamic collision checking
- Required Readings:
- Bounding Volume
Hierarchy (with spheres):
S. Quinlan. Efficient Distance Computation Between
Non-Convex Objects. Proc. IEEE Int. Conf. on Robotics and Automation,
- Adaptive bisection in
dynamic collision checking
F. Schwarzer, M. Saha,
J.C. Latombe. Adaptive Dynamic Collision Checking for Single and Multiple
Articulated Robots in Complex Environments, manuscript, 2003. [ps] [pdf]
- Other Readings:
- The PQP collision
checker (BVH approach with Oriented Bounding Boxes):
S. Gottschalk, M. Lin, and D. Manocha.
OBB-Tree: A Hierarchical Structure for Rapid Interference Detection. Proc.
ACM SIGGRAPH '96, 1996. [pdf]
of BVH, interval arithmetics, and polynomial
S. Redon, A. Kheddar
and S. Coquillart. Fast Continuous Collision
Detection between Rigid Bodies. Proc.
Eurographics, Sept. 2002. [pdf]
- See also Ming Lin's webpage for numerous
references and downloadable software.
- Powerpoint slides: