Title :
A collision detection algorithm using adaptive particle sensor
Author :
Rungcharoenpaisal, Thiti ; Kanongchaiyos, Pizzanu
Author_Institution :
Dept. of Comput. Eng., Chulalongkorn Univ., Bangkok
Abstract :
We present an adaptive algorithm for collision detection between rigid and non-rigid polygonal objects by improving particle sensor-based method which is more efficient in handling deformation of objects than bounding volume hierarchies-based method which has to be updated its bounding representations frequently. However, a problem of particle sensor-based is, a number of particles on each object´s surface when object is deformed and a reporting of many contact of exact collision on each object, are not well-defined and calculated. Moreover, it can be slow down in a large scene by checking the distances of every object. Therefore, this research presents an algorithm which solves all those problems by using the sweep and prune like algorithm to prune any noncolliding objects in the large scene instead of checking the distances of every object, using an idea of particle´s emitter to determine an adaptive number of particle sensor when object is deformed, and using a power in stream computation of graphics processing unit (GPU) to report all contacts of exact collision in particle sensor´s responsible area. A detailed description of this algorithm, a time complexity analysis and experiment results showing this algorithm can be conducted in real-time are include in this paper.
Keywords :
collision avoidance; image sensors; object detection; adaptive algorithm; adaptive particle sensor; collision detection algorithm; deformation handling; graphics processing unit; polygonal objects; time complexity analysis; volume hierarchies-based method; Algorithm design and analysis; Application software; Detection algorithms; Face detection; Image edge detection; Layout; Object detection; Particle tracking; Partitioning algorithms; Robot sensing systems; LBG quantization; collision detection; particle; partitioning;
Conference_Titel :
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-2678-2
Electronic_ISBN :
978-1-4244-2679-9
DOI :
10.1109/ROBIO.2009.4913221