1. CS 326 A: Motion Planning robotics.stanford.edu/~latombe/cs326/2003/index.htm Collision Detection and Distance Computation: Feature Tracking Methods

2. Main Approaches  Hierarchical bounding volume hierarchies  Feature tracking (pairs of closest features)

3. With Bounding Volume Hierarchies Dynamic Collision Checking 1 2 3 2 3 3 3

4. With Feature Tracking: Dynamic Collision Checking Particularly useful when the motion is checked while being executed, e.g., as in haptics. Requires spatio-temporal assumption to be satisfied: Under a small relative motion of the objects, the tracked features change undergo small changes

5. Feature Tracking Methods  Only update the tracked features at “critical events” when they may change  KDS (Kinetic Data Structure methods) [Guibas]  Fixed or arbitrary small discretization This class’s papers: Lin and Canny method  V-Clip (Mirtich)  Application to detecting self-collisions in humanoid robots (Kuffner et al.)

6. Combining Bounding Volume and Feature Tracking Methods  T.Y. Li and J.S. Chen. 1998. Incremental 3D Collision Detection with Hierar-chical Data Structures,Proc. ACM Symp. on Virtual Reality Software and Technology, p.139-144, Taipei, Taiwan