Class 3 (April 10) : COLLISION DETECTION AND DISTANCE COMPUTATION

Topics:

- Role of collision detection and distance computation in motion planning
- Feature-tracking approach
- Hierarchical bounding approach
Required Reading:
- Feature-tracking approach:
  M. Lin and J. Canny. A Fast Algorithm for Incremental Distance Calculation. Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1008-1014, 1991. pdf
- Hierarchical bounding approach (with spheres):
  S. Quinlan. Efficient Distance Computation Between Non-Convex Objects. Proc. IEEE Int. Conf. on Robotics and Automation, 1994. pdf
Other Reading:
- The PQP collision checker (hierarchical bounding with Oriented Bounding Boxes):
  S. Gottschalk, M. Lin, and D. Manocha. OBB-Tree: A Hierarchical Structure for Rapid Interference Detection. Proc. ACM SIGGRAPH '96, 1996. pdf
- The best research is currently being done at UNC.
  See Ming Lin's webpage.
- See also V-Clip of Brian Mirtich at MERL.
Powerpoint slides:
- Introduction
- Paper 1
- Paper 2