Lee, Kit-Hang;
Guo, Ziyan;
Chow, Gary CT;
Chen, Yue;
Luk, Wayne;
Kwok, Ka-Wai;
(2015)
GPU-based proximity query processing on unstructured triangular mesh model.
In:
2015 IEEE International Conference on Robotics and Automation (ICRA).
IEEE: Seattle, WA, USA.
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Abstract
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 form of triangular meshes. The proposed PQ algorithm is computationally parallel so that it can be effectively implemented on graphics processing units (GPUs). A GPU-based computation scheme is also developed and customized, which shows >200 times faster than an optimized CPU with single core. Comprehensive validation is also conducted on two simulated scenarios in order to demonstrate the practical values of its potential application in image-guided surgical robotics and humanoid robotic control.
| Type: | Proceedings paper |
|---|---|
| Title: | GPU-based proximity query processing on unstructured triangular mesh model |
| Event: | 2015 IEEE International Conference on Robotics and Automation (ICRA) |
| Dates: | 26 May 2015 - 30 May 2015 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/icra.2015.7139808 |
| Publisher version: | http://dx.doi.org/10.1109/icra.2015.7139808 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Collision avoidance, Graphics processing units, Algorithm design and analysis, Computational modeling, Solid modeling, Robot sensing systems |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10188955 |
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