Class #5: Collision Detection (2/2) –
            Feature-Tracking Methods
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The figure on the left illustrates the coherence principle on which feature-tracking methods are based. The figures on the right show the application of feature-tracking to detect self-collision in a humanoid robot (2nd required paper).

  • Topics:
    - Incremental collision checking and coherence assumption
    - Feature-tracking approach
    - Combination with BVH approach
    - Application to detection of self-collision in a humanoid robot
  • Required Readings:
    • Basic paper on feature-tracking approach:
      M. Lin and J. Canny. A Fast Algorithm for Incremental Distance Calculation. Proc. IEEE Int.
      Conf. on Robotics and Automation      , pp. 1008-1014, 1991. [pdf]
    • Self-collision detection in humanoid robot:
      J. Kuffner et al. Self-Collision and Prevention for Humanoid Robots. Proc. IEEE Int. Conf. on Robotics and Automation, 2002. [pdf]

  • Other Readings:
    • Combination of BVH and feature-tracking:
      S.A. Ehmann and M.C. Lin. Accurate and Fast Proximity Queries Between Polyhedra Using Convex Surface Decomposition. Proc. 2001 Eurographics, Vol. 20, No. 3, pp. 500-510, 2001. [pdf]
    • See also V-Clip of Brian Mirtich at MERL for downloadable software.

  • Powerpoint slides:

o       Introduction  

o       Paper 1  

o       Paper 2