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Interactive generalized penetration depth computation for rigid and articulated models using object norm

Published: 07 February 2014 Publication History

Abstract

We present a novel, real-time algorithm to accurately approximate the generalized penetration depth (PDg) between two overlapping rigid or articulated models. Given the high complexity of computing PDg, our algorithm approximates PDg based on iterative, constrained optimization on the contact space, defined by the overlapping objects. The main ingredient of our algorithm is a novel and general formulation of distance metric, the object norm, in a configuration space for articulated models, and a compact closed-form solution for it. Then, we perform constrained optimization, by linearizing the contact constraint, and minimizing the object norm under such a constraint. In practice, our algorithm can compute locally optimal PDg for rigid or articulated models consisting of tens of thousands of triangles in tens of milliseconds. We also suggest three applications using PDg computation: retraction-based motion planning, physically-based animation, and data-driven grasping.

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Supplemental movie and image files for, Interactive generalized penetration depth computation for rigid and articulated models using object norm

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Published In

cover image ACM Transactions on Graphics
ACM Transactions on Graphics  Volume 33, Issue 1
January 2014
179 pages
ISSN:0730-0301
EISSN:1557-7368
DOI:10.1145/2577382
Issue’s Table of Contents
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Publication History

Published: 07 February 2014
Accepted: 01 August 2013
Revised: 01 June 2013
Received: 01 August 2012
Published in TOG Volume 33, Issue 1

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Author Tags

  1. Animation
  2. articulated models
  3. collision detection
  4. dynamics
  5. penetration depth

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  • (2023)Survey of lightweighting methods of huge 3D models for online Web3D visualizationVirtual Reality & Intelligent Hardware10.1016/j.vrih.2020.02.0025:5(395-406)Online publication date: Oct-2023
  • (2022)A Minimax Model for Generalized Penetration Distance Between Convex Sets by Directed Hausdorff DistanceIEEE Robotics and Automation Letters10.1109/LRA.2022.31661117:3(6123-6130)Online publication date: Jul-2022
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