Dynamic Minkowski Sum of Convex Shapes

摘要：

Computing the Minkowski sums of rotating objects has always been done navely by re-computing every Minkowski sum from scratch. The correspondences between the Minkowski sums are typically completely ignored. We propose a method, called DYMSUM, that can efficiently update the Minkowski sums of rotating convex polyhedra. We show that DYMSUM is significantly more efficient than the traditional approach, in particular when the size of the input polyhedra are large and when the rotation is small between frames. From our experimental results, we show that the computation time of the proposed method grows slowly with respect to the size of the input comparing to the nave approach.

作者: Evan Behar Jyh-Ming Lien

作者单位: Department of Computer Science,George Mason University,4400 University Drive MSN 4A5,Fairfax,VA 22030 USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 3463-3468

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）