Ellipsoid-Sphere

Abstract: We present an incremental algorithm to estimate the penetration depth between convex polytopes in 3D. The algorithm incrementally seeks a "locally optimal solution" by walking on the surface of the Minkowski sums. The surface of the Minkowski sums is computed implicitly by constructing a local Gauss map. In practice, the algorithm works well when there is high motion coherence in the environment and is able to compute the optimal solution in most cases.

Publications

DEEP: Dual-Space Expansion for Estimating Penetration Depth Between Convex Polytopes
Young J. Kim, Ming C. Lin, and Dinesh Manocha
IEEE International Conference on Robotics and Automation, May 11-15, 2002.

Acrobat (160 KB)
ICRA Presentation (590 KB)

Incremental Penetration Depth Estimation Between Convex Polytopes Using Dual-Space Expansion
Young J. Kim, Ming C. Lin, and Dinesh Manocha
IEEE Transactions on Visualization and Computer Graphics.

Software

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