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Section 17
An Accurate Distance Algorithm for Octree-Encoded Objects
Article first published online: 22 DEC 2004
DOI: 10.1002/pamm.200410262
Copyright © 2004 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim
1617-7061/asset/cover.gif?v=1&s=79b6ccfe3470758033c99b476335ce58b5a38819 "PAMM")
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How to Cite
Dyllong, E. and Luther, W. (2004), An Accurate Distance Algorithm for Octree-Encoded Objects. Proc. Appl. Math. Mech., 4: 562–563. doi: 10.1002/pamm.200410262
Publication History
- Issue published online: 22 DEC 2004
- Article first published online: 22 DEC 2004
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Abstract
Distance algorithms are most frequently used in robotics to determine the distance between two obstacles in the environment of a robot or between a sensor point and an object. Bounding volumes are a common technique; this technique relies on a hierarchical model representation of the two surfaces using axis-aligned bounding boxes. Formoving objects it is interesting to use unaligned octrees to avoid the wrapping effect that occurs when performing octree decomposition in a common coordinate system after several rotations. We discuss the algorithm for computing accurate enclosures for the distance between objects represented by axis-aligned or unaligned octrees. This algorithm is based on a new, recently published distance algorithm between two objects represented by axis-aligned octrees. (© 2004 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)