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
Authors
Projects associated
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.
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