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CS 326A: Motion Planning

CS 326A: Motion Planning. ai.stanford.edu/~latombe/cs326/2007/index.htm Collision Detection and Distance Computation. Two Main Approaches. Hierarchical bounding volume hierarchies (pre-computation) Feature tracking (pairs of closest features). Bounding Volume Hierarchy Method.

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CS 326A: Motion Planning

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  1. CS 326A: Motion Planning ai.stanford.edu/~latombe/cs326/2007/index.htm Collision Detectionand Distance Computation

  2. Two Main Approaches • Hierarchical bounding volume hierarchies (pre-computation) • Feature tracking (pairs of closest features)

  3. Bounding Volume Hierarchy Method • Enclose objects into bounding volumes (spheres or boxes) • Check the bounding volumes first

  4. Bounding Volume Hierarchy Method • Enclose objects into bounding volumes (spheres or boxes) • Check the bounding volumes first • Decompose an object into two

  5. BVH in 3D

  6. Collision Detection Methods • Bounding Volume Hierarchy (BVH) methods: Good for few moving objects with complex geometry • Feature-Tracking methods: Good for few objects with moderate geometric complexity

  7. Probabilistic Roadmaps Few moving objects,but complex geometry

  8. Static vs. Dynamic Collision Checking C-space

  9. Combining Bounding Volume and Feature Tracking Methods • S.A. Ehmann and M.C. Lin. Accurate and Fast Proximity Queries Between Polyhedra Using Convex Surface Decomposition. Proc. 2001 Eurographics, Vol. 20, No. 3, pp. 500-510, 2001.  Use BVH to quickly identify close pairs of polyhedra  Use feature-tracking to check these pairs

  10. Combining Bounding Volume and Feature Tracking Methods • T.Y. Li and J.S. Chen. 1998. Incremental 3D Collision Detection with Hierarchical Data Structures,Proc. ACM Symp. on Virtual Reality Software and Technology, p.139-144, Taipei, Taiwan

  11. Collision Detection Methods • Bounding Volume Hierarchy (BVH) methods: good for few moving objects with complex geometry • Feature-Tracking methods: Good for few objects with moderate geometric complexity • Grid method: Good for many simple moving objects of about the same size (e.g., many moving discs/balls with similar radii)

  12. Crowd Simulation Many moving objects, but simple geometry (discs) Need to also compute distances (vision, sounds)

  13. d Grid Method • Subdivide space into a regular grid cubic of square bins • Index each object in a bin

  14. d Grid Method Running time is proportional tonumber of moving objects

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