| Abstract |
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Fast and accurate collision detection between general
geometric models is a fundamental problem in modeling,
robotics, manufacturing and computer-simulated
environments. Most of the earlier algorithm are either restricted
to a class of geometric models, say convex polytopes,
or are not fast enough for practical applications.
We present an new algorithm for collision detection between
general polygonal models. The algorithm makes use
of hierarchical representations along with frame to frame
coherence to rapidly detect collisions. It has been implemented
as part of motion planning package. In practice,
it can accurately detect the contacts between large geometries
composed of thousands of polygons at interactive
rates.
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 Additional Information
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Index Terms- sphere-tree construction, object approximation, collision detection
Citation:
Antonio Benitez, Maria del Carmen Ramírez, Daniel Vallejo,
"Collision Detection Using Sphere-Tree Construction,"
conielecomp,
pp. 286-291,
15th International Conference on Electronics, Communications and Computers (CONIELECOMP'05),
2005
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