Fourier collision detection

  title={Fourier collision detection},
  author={Mikola Lysenko},
  journal={I. J. Robotics Res.},
In this paper, we investigate a new approach to narrowphase collision detection for rigid objects based on the Fourier transform. This new collision test scales with respect to accuracy, and we are able to rigorously establish an upper bound on the error of our test relating the Hausdorff metric to the number of Fourier coefficients used. Because our new form of the collision test is also a smooth inequality, it can be used as a holonomic unilateral constraint in many applications, such as path… CONTINUE READING
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