Skip to Main content Skip to Navigation
Conference papers

Fast C1 proximity queries using support mapping of sphere-torus-patches bounding volumes

Abstract : STP-BV is a bounding volume made of patches of spheres and toruses. These patches are assembled so that a convex polyhedral hull is bulged, in a tunable way, into a strictly convex form. Strict convexity ensures at least C 1 property of the distance function -and hence, its gradient continuity. STP-BV were introduced in our previous work, but proximity distance queries were limited to pairs of STP-BV covered objects. In this work we present an alternative to achieve fast proximity distance queries between a STP-BV object and any other convex shape. This is simply made by proposing a support mapping for STP-BV to be used with GJK algorithm. Implementation and experiments of the proposed method and its performance are demonstrated with potential applications to robotics and computer graphics.
Document type :
Conference papers
Complete list of metadatas

Cited literature [11 references]  Display  Hide  Download

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00796369
Contributor : François Keith <>
Submitted on : Monday, March 4, 2013 - 12:04:58 AM
Last modification on : Tuesday, June 18, 2019 - 12:06:37 PM
Long-term archiving on: : Wednesday, June 5, 2013 - 3:55:59 AM

File

2009_icra_benallegue-Fast_C1_p...
Files produced by the author(s)

Identifiers

Citation

Mehdi Benallègue, Adrien Escande, Sylvain Miossec, Abderrahmane Kheddar. Fast C1 proximity queries using support mapping of sphere-torus-patches bounding volumes. ICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.483-488, ⟨10.1109/ROBOT.2009.5152722⟩. ⟨lirmm-00796369⟩

Share

Metrics

Record views

523

Files downloads

700