Collision detection between point clouds using an efficient k-d tree implementation
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Summary
The presented methods for collision detection and penetration depth calculation are shown to solve problems for which the structure gauge is an insufficient measure and the underlying k-d tree is shown to be an effective data structure for the required look-up operations.
- Type
- article
- Published
- 2015-08-01
- Cited by
- 48
- References
- 35
- OpenAlex
- https://openalex.org/W1998293730
- Semantic Scholar
- https://api.semanticscholar.org/CorpusID:21785596
Keywords
Point cloud, k-d tree, Trajectory, Tree (set theory), Computer science
References
- Lexikon der gesamten Technik und ihrer Hilfswissenschaften
- Comparison of nearest-neighbor-search strategies and implementations for efficient shape registration
- Interactive Simulation of Rigid Body Dynamics in Computer Graphics
- BREP Identification During Voxel-Based Collision Detection for Haptic Manual Assembly
- Broad-phase collision detection using semi-adjusting BSP-trees
- OBBTree: a hierarchical structure for rapid interference detection
- 3D collision detection: a survey
- On Faster Sphere-Box Overlap Testing
- Distance computation using axis aligned bounding box (AABB) parallel distribution of dynamic origin point
- A Collision Detection Algorithm Using AABB and Octree Space Division
- Approximating polyhedra with spheres for time-critical collision detection
- Collision-streams: fast GPU-based collision detection for deformable models
- Self-customized BSP trees for collision detection
- Unified GPU voxel collision detection for mobile manipulation planning
- A sensor skid for precise 3D modeling of production lines
- I-COLLIDE: an interactive and exact collision detection system for large-scale environments
- Curve and surface fitting with splines
- 6D SLAM with an application in autonomous mine mapping
- Solving the collision detection problem
- Optimized Spatial Hashing for Collision Detection of Deformable Objects
Cited by
- Geometric Design Model and Object Scanning Mode Based Virtual Assembly and Repair Analysis
- Performance comparison between state-of-the-art point-cloud based collision detection approaches on the CPU and GPU
- Bidirectional scale-invariant feature transform feature matching algorithms based on priority k-d tree search
- Stable and efficient collision detection scheme for hip-surgery training system
- Flexible Use of Temporal and Spatial Reasoning for Fast and Scalable CPU Broad‐Phase Collision Detection Using KD‐Trees
- 3D Point Cloud Data Enabled Facility Management: A Critical Review
- KDT-MOEA: A multiobjective optimization framework based on K-D trees
- A Tracking-Based Numerical Algorithm for Efficiently Constructing the Feasible Space of Tool Axis of a Conical Ball-End Cutter in Five-Axis Machining
- DESIGN AND APPLICATION OF BOUNDING VOLUME HIERARCHY COLLISION DETECTION ALGORITHM BASED ON VIRTUAL SPHERE
- Model-based quality assurance in railway infrastructure planning
- Non-iterative denoising algorithm based on a dual threshold for a 3D point cloud
- Scalable Solvers for Cone Complementarity Problems in Frictional Multibody Dynamics
- A Comprehensive Study and Comparison of Core Technologies for MPEG 3-D Point Cloud Compression
- A robust segmentation framework for closely packed buildings from airborne LiDAR point clouds
- A capsule-based collision detection approach of irregular objects in virtual maintenance
- Research on Fabric Image Mosaics Based on SURF
- Truncated octree and its applications
- Application of 3D Scanning, Computer Simulations and Virtual Reality in the Redesigning Process of Selected Areas of Underground Transportation Routes in Coal Mining Industry
- Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment
- Collision Free Motion Planning for Double Turret System Operating in a Common Workspace
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