Title :
Automatic generation of sphere hierarchies from CAD data
Author :
Pitt-Francis, Joe ; Feathertone, R.
Author_Institution :
Comput. Lab., Oxford Univ., UK
Abstract :
A sphere hierarchy is a data structure that approximates the shape of a given object using a collection of spheres. They can be used for collision detection, motion planning and other related applications. This paper presents an algorithm for constructing an efficient sphere hierarchy from a geometric model of an object, as supplied by a CAD system or geometric modeller and it presents a branching factor analysis based on a general measure of the efficiency of a sphere hierarchy
Keywords :
computational geometry; data structures; path planning; robots; CAD data; automatic generation; branching factor analysis; collision detection; geometric model; motion planning; sphere hierarchies; Algorithm design and analysis; Binary trees; Data engineering; Data structures; Laboratories; Performance evaluation; Road accidents; Shape measurement; Solid modeling; Testing;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.676414
