Fast collision detection through bounding volume hierarchies in workspace-time space for sampling-based motion planners

2015 ◽  
Author(s):  
Ulrich Schwesinger ◽  
Roland Siegwart ◽  
Paul Furgale
Keyword(s):  
Collision Detection ◽  
Bounding Volume ◽  
Time Space ◽  
Bounding Volume Hierarchies ◽  
Fast Collision

Fast Collision Detection and Deformation of Soft Tissue in Virtual Surgery

2013 ◽  
Vol 380-384 ◽  
pp. 778-781
Author(s):  
Ling Ling Shi ◽  
Zhi Yuan Yan ◽  
Zhi Jiang Du
Keyword(s):  
Soft Tissue ◽  
Collision Detection ◽  
Surgical Instruments ◽  
Virtual Surgery ◽  
Surface Model ◽  
Sphere Model ◽  
Soft Tissue Deformation ◽  
Bounding Volume ◽  
Mass Spring ◽  
Fast Collision

In the virtual scene of robot assisted virtual surgery simulation system, the surgical instruments achieve complex motion following the haptic devices and the soft tissue deforms continuously under interaction forces. In order to meet the rapidity of collision detection, an algorithm based on changeable direction hull bounding volume hierarchy is proposed. Strategy of combining surface model with body model is developed for soft tissue deformation. Skeleton sphere model of soft tissue is built. Deformation can be achieved based on mass-spring theory after matching collision information with the skeleton sphere model. The experiments show that the proposed collision detection method implements faster speed compared with fixed direction hull algorithm and soft tissue deforms through combination of collision information with sphere model.

scholarly journals Efficient collision detection using bounding volume hierarchies of k-DOPs

1998 ◽  
Vol 4 (1) ◽  
pp. 21-36 ◽  
Author(s):  
J.T. Klosowski ◽  
M. Held ◽  
J.S.B. Mitchell ◽  
H. Sowizral ◽  
K. Zikan
Keyword(s):  
Collision Detection ◽  
Bounding Volume ◽  
Bounding Volume Hierarchies

scholarly journals TEMPORAL COHERENCE IN BOUNDING VOLUME HIERARCHIES FOR COLLISION DETECTION

2006 ◽  
Vol 12 (02) ◽  
pp. 159-178 ◽  
Author(s):  
OREN TROPP ◽  
AYELLET TAL ◽  
ILAN SHIMSHONI ◽  
DAVID P. DOBKIN
Keyword(s):  
Collision Detection ◽  
Temporal Coherence ◽  
Bounding Volume ◽  
Bounding Volume Hierarchies

A Survey of Collision Detection

2014 ◽  
Vol 538 ◽  
pp. 360-363 ◽  
Author(s):  
Ran Ran Man ◽  
Dong Sheng Zhou ◽  
Qiang Zhang
Keyword(s):  
Virtual Reality ◽  
Particle Swarm Optimization ◽  
Collision Detection ◽  
Detection Algorithm ◽  
Detection Problem ◽  
Swarm Optimization ◽  
Bounding Volume ◽  
Bounding Volume Hierarchies ◽  
Efficiency And Reliability ◽  
Research Situation

The interference and collision detection problem among objects is widely studied in graphics, simulation, animation and virtual reality technologic. In this paper, we proceed from the main solution for collision detection, analyzed from graphic space, bounding volume hierarchies (BVH), Particle Swarm Optimization (PSO) and parallel algorithm, summarized the research situation about collision detection in recent years. At last, we give several suggestions to improve the efficiency and reliability of the collision detection algorithm.

Bounding Volume Hierarchies for Detecting Collision in Urban Simulation

2008 ◽  
Author(s):  
Hamzah Asyrani Sulaiman ◽  
Abdullah Bade ◽  
Daut Daman ◽  
Mohd Shahrizal Sunar
Keyword(s):  
Bounding Volume ◽  
Urban Simulation ◽  
Bounding Volume Hierarchies

A Survey on Bounding Volume Hierarchies for Ray Tracing

2021 ◽  
Vol 40 (2) ◽  
pp. 683-712
Author(s):  
Daniel Meister ◽  
Shinji Ogaki ◽  
Carsten Benthin ◽  
Michael J. Doyle ◽  
Michael Guthe ◽  
...  
Keyword(s):  
Ray Tracing ◽  
Bounding Volume ◽  
Bounding Volume Hierarchies

Hardware-Accelerated Dual-Split Trees

2020 ◽  
Vol 3 (2) ◽  
pp. 1-21
Author(s):  
Daqi Lin ◽  
Elena Vasiou ◽  
Cem Yuksel ◽  
Daniel Kopta ◽  
Erik Brunvand
Keyword(s):  
Ray Tracing ◽  
Hardware Acceleration ◽  
Memory Storage ◽  
Compact Representation ◽  
Space Partitioning ◽  
Data Movement ◽  
Bounding Volume ◽  
Bounding Boxes ◽  
Split Trees ◽  
Bounding Volume Hierarchies

Bounding volume hierarchies (BVH) are the most widely used acceleration structures for ray tracing due to their high construction and traversal performance. However, the bounding planes shared between parent and children bounding boxes is an inherent storage redundancy that limits further improvement in performance due to the memory cost of reading these redundant planes. Dual-split trees can create identical space partitioning as BVHs, but in a compact form using less memory by eliminating the redundancies of the BVH structure representation. This reduction in memory storage and data movement translates to faster ray traversal and better energy efficiency. Yet, the performance benefits of dual-split trees are undermined by the processing required to extract the necessary information from their compact representation. This involves bit manipulations and branching instructions which are inefficient in software. We introduce hardware acceleration for dual-split trees and show that the performance advantages over BVHs are emphasized in a hardware ray tracing context that can take advantage of such acceleration. We provide details on how the operations needed for decoding dual-split tree nodes can be implemented in hardware and present experiments in a number of scenes with different sizes using path tracing. In our experiments, we have observed up to 31% reduction in render time and 38% energy saving using dual-split trees as compared to binary BVHs representing identical space partitioning.

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