Applications of spatial data structures: Computer graphics, image processing, and GIS
Applications of spatial data structures: Computer graphics, image processing, and GIS
The design and analysis of spatial data structures
The design and analysis of spatial data structures
Voronoi diagrams—a survey of a fundamental geometric data structure
ACM Computing Surveys (CSUR)
Fast computation of generalized Voronoi diagrams using graphics hardware
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
AfriGraph '01 1st International Conference on Virtual Reality, Computer Graphics and Visualization in Southern Africa ( formerly known as SAGA 2001 )
Fast 3D triangle-box overlap testing
Journal of Graphics Tools
'Meshsweeper': Dynamic Point-to-Polygonal-Mesh Distance and Applications
IEEE Transactions on Visualization and Computer Graphics
Collision Detection between Robot Arms and People
Journal of Intelligent and Robotic Systems
Continuous path verification in multi-axis NC-machining
SCG '04 Proceedings of the twentieth annual symposium on Computational geometry
Hierarchical Spherical Distance Fields for Collision Detection
IEEE Computer Graphics and Applications
Direct 5-axis tool-path generation from point cloud input using 3D biarc fitting
Robotics and Computer-Integrated Manufacturing
Precise global collision detection in multi-axis NC-machining
Computer-Aided Design
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When working with milling or polishing robots and large workpieces it is necessary to check not only the milling or polishing tool for collision, but it is also necessary to check the remaining arms of the robot for collision. In most of the cases the arms of the robot do not collide with the workpiece and so applying an existing collision detection algorithm to the arms of the robot slows the process down. In this paper, we present an algorithm for quickly assuring non-collisions, which is especially targeted at collisions of the arms of the robot with a workpiece. The algorithm is based on an extended voxel structure. More precisely, we extend a voxel structure by adding distance values to the corner of the voxels and by linking empty voxels to non-empty voxels to accelerate finding the desired voxel. This ensures that we only need to consider a small subset of the triangles describing the workpiece's surface, namely those triangles that are close to the possible collision area. The triangles within each non-empty voxel are stored in a bsp-tree. For empty voxels, we save information about the distances to the mesh. This setup speeds up the point-to-mesh distance calculation, especially for points close to the mesh. The extra distance information in empty voxels enables a fast distance estimation and hence a fast early collision check.