Efficient distance computation between non-convex objects 论文

2002引用 390

Robotic Path Planning AlgorithmsRobotics and Sensor-Based LocalizationAdvanced Image and Video Retrieval Techniques

机器人 Advanced Image and Video Retrieval Techniques Robotics and Sensor-Based Localization Robotic Path Planning Algorithms

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This paper describes an efficient algorithm for computing the distance between nonconvex objects. Objects are modeled as the union of a set of convex components. From this model we construct a hierarchical bounding representation based on spheres. The distance between objects is determined by computing the distance between pairs of convex components using preexisting techniques. The key to efficiency is a simple search routine that uses the bounding representation to ignore most of the possible pairs of components. The efficiency can further be improved by accepting a relative error in the returned result. Several empirical trials are presented to examine the performance of the algorithm.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>

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Sean Quinlan

Efficient distance computation between non-convex objects 论文

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