A geometric investigation of reach
A geometric investigation of reach
Algorithms in combinatorial geometry
Algorithms in combinatorial geometry
Sweeping of three-dimensional objects
Computer-Aided Design
Geometric representation of swept volumes with application to polyhedral objects
International Journal of Robotics Research
Computing Minkowski sums
Computing Occlusion-Free Viewpoints
IEEE Transactions on Pattern Analysis and Machine Intelligence
Lancelot: A FORTRAN Package for Large-Scale Nonlinear Optimization (Release A)
Lancelot: A FORTRAN Package for Large-Scale Nonlinear Optimization (Release A)
Geometric Modeling for Swept Volume of Moving Solids
IEEE Computer Graphics and Applications
Controlled perturbation for arrangements of polyhedral surfaces with application to swept volumes
SCG '99 Proceedings of the fifteenth annual symposium on Computational geometry
Fast swept volume approximation of complex polyhedral models
SM '03 Proceedings of the eighth ACM symposium on Solid modeling and applications
2009 SIAM/ACM Joint Conference on Geometric and Physical Modeling
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Abstract: This paper discusses the automatic computation of viewpoints for monitoring objects and features in an active robot work-cell. An important step in the authors' algorithm for finding viewpoints is the computation of the volumes swept by polyhedral objects moving through space. A method for approximating these volumes for arbitrarily moving polyhedra is presented. Some swept volume results are presented and methods for integrating these results into the authors' automated machine vision planning (MVP) system are discussed.