Publication

Distance bound for nonconvex polyhedral models in close proximity

Journal Article (2006)

Journal

Journal of Field Robotics

Pages

35-50

Volume

22

Number

1

Doc link

http://dx.doi.org/10.1002/rob.20148

File

Download the digital copy of the doc pdf document

Abstract

In many applications, it suffices to know a lower bound on the distance between objects, instead of the exact distance itself, which may be more difficult to compute. Such an easy-to-compute lower bound on the distance between two nonconvex polyhedra is presented here, which does not require a decomposition of the original polyhedra into convex entities. Furthermore, a suitable preprocessing of the polyhedra permits lowering the effort needed to compute this lower bound, and improves its quality. Experimental evidence is presented of the promise of this approach for assembly applications.

Categories

robots.

Author keywords

distance computation, lower bound, nonconvex polyhedra, orientation-based pruning

Scientific reference

P. Jiménez and C. Torras. Distance bound for nonconvex polyhedral models in close proximity. Journal of Field Robotics, 22(1): 35-50, 2006.