接触空間伝播サンプリングによる剛体モデル間の効率的な貫入深度計算
Efficient Penetration Depth Computation between Rigid Models using Contact Space Propagation Sampling
2つの非凸形状間の近似的な貫入深度を、オフラインで接触空間をサンプリングして事前計算し、実行時は最近傍探索と局所投影で高速に求める手法を提案した。
著者: Liang He, Jia Pan, Danwei Li, Dinesh Manocha
分類: cs.RO
原文アブストラクト
We present a novel method to compute the approximate global penetration depth (PD) between two non-convex geometric models. Our approach consists of two phases: offline precomputation and run-time queries. In the first phase, our formulation uses a novel sampling algorithm to precompute an approximation of the high-dimensional contact space between the pair of models. As compared with prior random sampling algorithms for contact space approximation, our propagation sampling considerably speeds up the precomputation and yields a high quality approximation. At run-time, we perform a nearest-neighbor query and local projection to efficiently compute the translational or generalized PD. We demonstrate the performance of our approach on complex 3D benchmarks with tens or hundreds of thousands of triangles, and we observe significant improvement over previous methods in terms of accuracy, with a modest improvement in the run-time performance.
