Dual Space-Expansion for Estimating Penetration depth between convex polytopes

	DEEP: Dual-space Expansion for Estimating Penetration Depth
	Young J. Kim	youngkim@cs.unc.edu
	Ming C. Lin	lin@cs.unc.edu
	Dinesh Manocha	dm@cs.unc.edu

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.

PUBLICATION

DEEP: Dual-space Expansion for Estimating Penetration Depth between convex polytopes

Young J. Kim, Ming C. Lin and Dinesh Manocha
In the 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
To Appear in the IEEE Transactions on Visualization and Computer Graphics.

Acrobat (656 Kb)

SOFTWARE

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Fast Penetration Depth Computation Using Rasterization Hardware and Hierarchical Refinement

youngkim@cs.unc.edu

last updated: 04/15/2003