一种快速精确触觉碰撞检测中接触细节层次控制方法（英文）

发布时间：2018-05-14 14:10

本文选题：碰撞检测 + 触觉再现　；参考：《Frontiers of Information Technology & Electronic Engineering》2017年08期

【摘要】：为实现精确稳定的触觉再现,包围体积(球体、轴对称包围盒、定向包围盒或多面体)必须尽可能紧密地填充或覆盖目标对象,来完成交互式触觉应用中的碰撞检测。本文提供了一种方法,用于创建与接触细节层次(contact levels of details,CLOD)相关的包围球体。该球体与目标对象相配合的同时,还能平衡碰撞检测的速度与精确性。所提出的方法主要包括包围球体成形以及两级碰撞检测两部分。进一步说,包围球体成形可分为2步:创建球体和聚类球体;两级碰撞检测也包括2个阶段:球体的快速检测以及精确检测。首先,通过包围球体的创建实现球体碰撞检测中的初始快速探测。一旦探测到碰撞,可通过检查碰撞边界内网格与触觉点的间距来实现更精确的检测效果。为实现这种精细层级的检测,需要定义一种特殊的包围体积数据结构来囊括球体内的全部网格信息。我们通过一系列实现检验了所提出方法的有效性和性能表现,结果表明所提出算法的速度和精确度可以满足触觉仿真的需要。通过球体聚类来保证检测速度,通过基于体素的直接碰撞检测来保证检测精确度。通过基于距离的聚类,所提出的方法在CLOD方面仍保持了其独创性。
[Abstract]:In order to achieve accurate and stable tactile reappearance, the bounding volume (sphere, axisymmetric bounding box, directional bounding box or polyhedron) must be filled or covered as closely as possible to complete collision detection in interactive tactile applications. This paper provides a method for creating a bounding sphere associated with the contact levels of details CLODs. The sphere can balance the speed and accuracy of collision detection while cooperating with the target object. The proposed method mainly includes two parts: bounding sphere forming and two-stage collision detection. Furthermore, bounding sphere forming can be divided into two steps: creating sphere and clustering sphere, and two-stage collision detection also includes two stages: rapid detection of sphere and accurate detection. First, the initial fast detection of sphere collision detection is realized by creating the surrounding sphere. Once a collision is detected, a more accurate detection can be achieved by checking the distance between the mesh and the tactile point within the collision boundary. In order to achieve this kind of fine level detection, it is necessary to define a special encircling volume data structure to include all the grid information in the sphere. We verify the effectiveness and performance of the proposed method through a series of implementations. The results show that the speed and accuracy of the proposed algorithm can meet the needs of tactile simulation. The detection speed is ensured by sphere clustering and the accuracy is ensured by direct collision detection based on voxel. By distance-based clustering, the proposed method still maintains its originality in CLOD.
【作者单位】： Department
【基金】：supported by Incheon National University Research,Korea(No.20120238)
【分类号】：TP391.41

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