1. GPU Proximity Queries with Swept Sphere Volumes COMP 790-058 Robotics Project Proposal Qi Mo

2. Proximity Query Collision detection, Separation distance computation, Approximate distance, etc. Bounding volume hierarchies (BVHs) Spheres, AABBs, OBBs, etc. Tightness of fit Vs cost of BV pair operation

3. Swept Sphere Volumes (SSVs) PSS LSS RSS

4. Prior Work 1. Fast Proximity Queries with Swept Sphere Volumes, Eric Larsen, Stefan Gottschalk, Ming C. Lin, Dinesh Manocha, Proceedings of International Conference on Robotics and Automation, pp. 3719-3726, April 2000 2. Fast BVH Construction on GPUs, Christian Lauterbach, Michael Garland, Shubhabrata Sengupta, David Luebke, Dinesh Manocha, In submission. 2008. 3. RT-DEFORM: Interactive Ray Tracing of Dynamic Scenes Using BVHs, Christian Lauterbach, Sung-Eui Yoon, David Tuft, DInesh Manocha, Proceedings of IEEE Symposium on Interactive Ray Tracing, 2006

5. Project Summary Extend current GPU collision detection framework – from AABBs to SSVs – from collision detection to distance computation