Efficient Interference Calculation by Tight Bounding Volumes

This chapter will describe several methods of detecting collision events within a 3D environment. It will also discuss some of the bounding volumes, and their intersection tests that can be used to contain the graphical representation of objects in a video game. The first part of the chapter will cover the use of Axially Aligned Bounding Boxes (AABBs) and Radial Collision Volumes. The use of hierarchies with bounding volumes will be discussed. The next section of the chapter will focus on Object Oriented Bounding Boxes (OOBs). The third section is concerned with the Gilbert-Johnson-Keerthi distance algorithm (GJK). The last three sections will focus on ways of optimizing the collision detection process by culling unnecessary intersection tests through the use of type lists, sorted lists and spatial partitioning.

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Towards a Virtual Reality Simulator for Orthognathic Basic Skils

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.162.352 ◽

2012 ◽

Vol 162 ◽

pp. 352-357 ◽

Cited By ~ 4

Author(s):

Raluca Elena Sofronia ◽

Arjana Davidescu ◽

George Gustav Savii

Keyword(s):

Virtual Reality ◽

Collision Detection ◽

Orthognathic Surgery ◽

Nerve Lesion ◽

Virtual Reality Technology ◽

Non Union ◽

Bounding Volumes ◽

Saw Blade ◽

High Level ◽

Arthroplasty Surgery

Bone sawing skill demands a high level of dexterity from the surgeon that can be achieved only with a lot of training. Sawing is a basic skill required in many procedures, such as: osteotomy, ostectomy, amputation and arthroplasty surgery. Inefficient sawing can lead in orthognathic surgery to nerve lesion, bad split and non-union. Using virtual reality technology this complications can be reduced, by training the students on simulators until they assimilate the skill. This paper presents an early prototype for a bone sawing simulator in orthognathic surgery. A voxel-based mandible model obtained from a Computer Tomography is cut by removing the voxels that are inside the saw blade. The collision detection is based on hierarchical bounding volumes. The removal process is observed both visually and haptically.

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Bounding Volumes for Proteins: A Comparative Study

Journal of Computational Biology ◽

10.1089/cmb.2012.0104 ◽

2012 ◽

Vol 19 (10) ◽

pp. 1203-1213 ◽

Cited By ~ 3

Author(s):

Rasmus Fonseca ◽

Pawel Winter

Keyword(s):

Comparative Study ◽

Bounding Volumes

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Research on the Collision Detection Technology of Coal-Cutting Machinery in Remote Virtual Control

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.738-739.863 ◽

2015 ◽

Vol 738-739 ◽

pp. 863-866 ◽

Cited By ~ 1

Author(s):

Ai Ling Qi ◽

Huan Wang ◽

Hai Yan Wu ◽

Hong Wei Ma

Keyword(s):

Virtual Reality ◽

Collision Detection ◽

Detection Algorithm ◽

Virtual Reality System ◽

Virtual Scene ◽

Bounding Volumes ◽

Virtual Control ◽

Coal Cutting ◽

Detection Technology ◽

Mine Automation

On account of the dangerousness of coal mining, the remote virtual control of coal-cutting machinery is the development direction of coal mine automation, and collision detection is a crucial technology of virtual reality system. In order to solve the problems about through the wall during virtual scene walkthrough in virtual control of coal-cutting machinery, this paper has researched collision detection algorithm, according to the characteristics of coalface and virtual reality system scene, taking advantage of hierarchical bounding volumes algorithm to solve the collision detection problems of coalface in virtual reality system. And it has compiled the algorithm by applying SDK of Quest3D software. Research results show that, realization of the collision detection algorithm has solved scene roaming simulation degree and the speed of the system in coalface virtual scene walkthrough.

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Robot Imitation Learning of Social Gestures with Self-Collision Avoidance Using a 3D Sensor

Sensors ◽

10.3390/s18072355 ◽

2018 ◽

Vol 18 (7) ◽

pp. 2355 ◽

Cited By ~ 3

Author(s):

Tan Zhang ◽

Wing-Yue Louie ◽

Goldie Nejat ◽

Beno Benhabib

Keyword(s):

Social Communication ◽

Learning System ◽

Imitation Learning ◽

High Dimensionality ◽

Human Behaviors ◽

Bounding Volumes ◽

Communication Modes ◽

Robot Configuration ◽

Kinematical Approach ◽

Dual Arm

To effectively interact with people, social robots need to perceive human behaviors and in turn display their own behaviors using social communication modes such as gestures. The modeling of gestures can be difficult due to the high dimensionality of the robot configuration space. Imitation learning can be used to teach a robot to implement multi-jointed arm gestures by directly observing a human teacher’s arm movements (for example, using a non-contact 3D sensor) and then mapping these movements onto the robot arms. In this paper, we present a novel imitation learning system with robot self-collision awareness and avoidance. The proposed method uses a kinematical approach with bounding volumes to detect and avoid collisions with the robot itself while performing gesticulations. We conducted experiments with a dual arm social robot and a 3D sensor to determine the effectiveness of our imitation system in being able to mimic gestures while avoiding self-collisions.

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A Supervisory Data-Traffic Controller in Collaborative Virtual Reality Simulations

Manufacturing ◽

10.1115/imece2002-32470 ◽

2002 ◽

Author(s):

Ali Akgunduz ◽

Pat Banerjee

Keyword(s):

Virtual Reality ◽

Control System ◽

Virtual Environments ◽

Supervisory Control ◽

Simulation System ◽

Level Of Detail ◽

Data Traffic ◽

Bounding Volumes ◽

Collaborative Virtual Reality ◽

Supervisory Control System

In this paper an efficient technique for distributing the data in collaborative virtual reality is presented. The described technique incorporates the culling and level of detail concepts in virtual reality to obtain cell based bounding volumes in each virtual environment. Defined bounding volumes are utilized in filtering the data that is transferred between different virtual environments in the simulation system. To orchestrate the communication between virtual environments and their bounding volumes, a supervisory control system is presented in the paper.

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