Improvements of the Voxmap-PointShell Algorithm - Fast Generation of Haptic Data-Structures
Improvements of the Voxmap-PointShell Algorithm - Fast Generation of Haptic Data-Structures
复制标题
Voxmap-PointShell 算法的改进 - 触觉数据结构的快速生成
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
G. Hirzinger
中科院分区：
文献类型：
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作者：
M. Sagardia;T. Hulin;C. Preusche;G. Hirzinger
Voxmap-PointShell TM（VPS）算法是一种触觉渲染算法，能够在任意复杂场景下以1 kHz的更新速率计算碰撞响应。这项工作介绍了快速算法来生成两个触觉数据结构所使用的VPS算法：体素映射-体素化的体积结构的静态对象-和点壳-点云描述移动对象-。为了生成体素图，进行了基于分离轴定理的碰撞测试。另一方面，利用优化策略生成点壳，以将点均匀地放置在对象的表面上。与以前的生成算法相比，DLR在性能和质量方面的改进包括在内，所有这些都是在大众汽车提供的虚拟汽车模型和人工模型上进行的。
The Voxmap-PointShell TM (VPS) Algorithm is a haptic rendering algorithm able to compute collision responses with 1 kHz update-rates with arbitrarily complex scenarios. This work introduces fast algorithms to generate the two haptic data-structures used by the VPS algorithm: voxmaps - voxelized volume structures for static objects - and pointshells - point-clouds describing moving objects - . For generating voxmaps, collision tests based on the Separating Axis Theorem are carried out. On the other hand, pointshells are generated utilizing optimization strategies to place points uniformly on the surface of the objects. The improvements in performance and quality obtained compared to the previous generating algorithms from DLR are included, all of them carried out on virtual car models provided by Volkswagen and artificial models.