A Brief Overview on Collision Detection

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A Brief Overview on Collision Detection

• KAIST ????
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Introduction

• Definition of collision
• A status that two or more objects occupy the same
  space at the same time ti
• Why important?
• Graphics world vs. real world
• collision is one of most basic physical
  interaction in real world

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Research Fields

• Computational Geometry
• intersection test of 2D polygon
• Robotics
• collision avoidance
• find collision free path
• Computer Graphics
• physically-based simulation

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Research Fields (cont.)

• CAD
• various topology
• VR
• n-body simulation
• real-time issue

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Traditional methods

• Four-Dimensional Canny86Duff92Snyder93
• Separating plane Rockafellar70Gilbert88Chung9
  6
• Space subdivision Moore88 Turk90Shaffer92Sm
  ith95

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Related Works

• UNC (http//www.cs.unc.edu/geom/)
• I-Collide
• sweep-and-prune for fast bounding box test
• closest feature test
• RAPID
• OBB-Tree
• V-Collide
• variation of I-Collide and RAPID for VRML

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Related Works (cont.)

• Cornell University Hubbard94,95,96
• Hierarchical Sphere Tree
• Space Time Bounds

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Related Works

• KIST Kim97
• HCT (Hierarchical Convex Tree)

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Research at KAIST

• View Collision Detection Lee97
• using range data
• simple and efficient
• Object Collision Detection
• HST(Hierarchical Simplex Tree)
• not yet implemented

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Future Research Direction

• Deformable polytopes
• Collision Response