本文選題：碰撞檢測 + 觸覺再現(xiàn)��； 參考：《Frontiers of Information Technology & Electronic Engineering》2017年08期

【摘要】：為實(shí)現(xiàn)精確穩(wěn)定的觸覺再現(xiàn),包圍體積(球體、軸對稱包圍盒、定向包圍盒或多面體)必須盡可能緊密地填充或覆蓋目標(biāo)對象,來完成交互式觸覺應(yīng)用中的碰撞檢測。本文提供了一種方法,用于創(chuàng)建與接觸細(xì)節(jié)層次(contact levels of details,CLOD)相關(guān)的包圍球體。該球體與目標(biāo)對象相配合的同時,還能平衡碰撞檢測的速度與精確性。所提出的方法主要包括包圍球體成形以及兩級碰撞檢測兩部分。進(jìn)一步說,包圍球體成形可分為2步:創(chuàng)建球體和聚類球體;兩級碰撞檢測也包括2個階段:球體的快速檢測以及精確檢測。首先,通過包圍球體的創(chuàng)建實(shí)現(xiàn)球體碰撞檢測中的初始快速探測。一旦探測到碰撞,可通過檢查碰撞邊界內(nèi)網(wǎng)格與觸覺點(diǎn)的間距來實(shí)現(xiàn)更精確的檢測效果。為實(shí)現(xiàn)這種精細(xì)層級的檢測,需要定義一種特殊的包圍體積數(shù)據(jù)結(jié)構(gòu)來囊括球體內(nèi)的全部網(wǎng)格信息。我們通過一系列實(shí)現(xiàn)檢驗(yàn)了所提出方法的有效性和性能表現(xiàn),結(jié)果表明所提出算法的速度和精確度可以滿足觸覺仿真的需要。通過球體聚類來保證檢測速度,通過基于體素的直接碰撞檢測來保證檢測精確度。通過基于距離的聚類,所提出的方法在CLOD方面仍保持了其獨(dú)創(chuàng)性。
[Abstract]:In order to achieve accurate and stable tactile reappearance, the bounding volume (sphere, axisymmetric bounding box, directional bounding box or polyhedron) must be filled or covered as closely as possible to complete collision detection in interactive tactile applications. This paper provides a method for creating a bounding sphere associated with the contact levels of details CLODs. The sphere can balance the speed and accuracy of collision detection while cooperating with the target object. The proposed method mainly includes two parts: bounding sphere forming and two-stage collision detection. Furthermore, bounding sphere forming can be divided into two steps: creating sphere and clustering sphere, and two-stage collision detection also includes two stages: rapid detection of sphere and accurate detection. First, the initial fast detection of sphere collision detection is realized by creating the surrounding sphere. Once a collision is detected, a more accurate detection can be achieved by checking the distance between the mesh and the tactile point within the collision boundary. In order to achieve this kind of fine level detection, it is necessary to define a special encircling volume data structure to include all the grid information in the sphere. We verify the effectiveness and performance of the proposed method through a series of implementations. The results show that the speed and accuracy of the proposed algorithm can meet the needs of tactile simulation. The detection speed is ensured by sphere clustering and the accuracy is ensured by direct collision detection based on voxel. By distance-based clustering, the proposed method still maintains its originality in CLOD.
【作者單位】： Department
【基金】：supported by Incheon National University Research,Korea(No.20120238)
【分類號】：TP391.41

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