Fast distance queries with rectangular swept sphere volumes

@article{Larsen2000FastDQ,
  title={Fast distance queries with rectangular swept sphere volumes},
  author={Eric Larsen and Stefan Gottschalk and Ming C. Lin and Dinesh Manocha},
  journal={Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)},
  year={2000},
  volume={4},
  pages={3719-3726 vol.4}
}
We present new distance computation algorithms using hierarchies of rectangular swept spheres. Each bounding volume of the tree is described as the Minkowski sum of a rectangle and a sphere, and fits tightly to the underlying geometry. We present accurate and efficient algorithms to build the hierarchies and perform distance queries between the bounding volumes. We also present traversal techniques for accelerating distance queries using coherence and priority directed search. These algorithms… CONTINUE READING

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