Class #4: Collision Detection – Feature-Tracking and Grid 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 (2^nd 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:
• Grid method:
  D. Halperin and M.H. Overmars Spheres, Molecules, and Hidden Surface Removal. Computational Geometry: Theory and Applications 11 (2), 1998, 83-102. [pdf]
  
  
• Powerpoint slides:

o Introduction

o Paper 1

o Paper 2