GPU-based proximity query processing on unstructured triangular mesh model

  title={GPU-based proximity query processing on unstructured triangular mesh model},
  author={Kit-Hang Lee and Ziyan Guo and Gary C. T. Chow and Yue Chen and Wayne Luk and Ka-Wai Kwok},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
This paper presents a novel proximity query (PQ) approach capable to detect the collision and calculate the minimal Euclidean distance between two non-convex objects in 3D, namely the robot and the environment. Such approaches are often considered as computationally demanding problems, but are of importance to many applications such as online simulation of haptic feedback and robot collision-free trajectory. Our approach enables to preserve the representation of unstructured environment in the… CONTINUE READING
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