Related papers: Rethinking Collision Detection on GPU Ray Tracing …
Collision Detection (CD) has several applications across the domains such as robotics, visual graphics, and fluid mechanics. Finding exact collisions between the objects in the scene is quite computationally intensive. To quickly filter the…
This paper presents a set of simple and intuitive robot collision detection algorithms that show substantial scaling improvements for high geometric complexity and large numbers of collision queries by leveraging hardware-accelerated ray…
Point cloud models are a common shape representation for several reasons. Three-dimensional scanning devices are widely used nowadays and points are an attractive primitive for rendering complex geometry. Nevertheless, there is not much…
Autonomous robots are increasingly prevalent in our society, emerging in medical care, transportation vehicles, and home assistance. These robots rely on motion planning and collision detection to identify a sequence of movements allowing…
Ray tracing is an efficient channel modeling method. However, the traditional ray tracing method has high computation complexity. To solve this problem, an improved bounding volume hierarchies (BVH) algorithm is proposed in this paper.…
The ray casting operation in the Monte Carlo ray tracing algorithm usually adopts a bounding volume hierarchy (BVH) to accelerate the process of finding intersections to evaluate visibility. However, its characteristics are irregular, with…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second order information about rigid-body dynamics in the presence…
As computational complexity in electromagnetics increases with frequency, full-wave solvers become computationally infeasible for electrically large problems. To address this limitation, we present a shooting and bouncing rays (SBR) method…
Physics-based simulation involves trade-offs between performance and accuracy. In collision detection, one trade-off is the granularity of collider geometry. Primitive-based colliders such as bounding boxes are efficient, while using the…
Oriented bounding box (OBB) bounding volume hierarchies offer a more precise fit than axis-aligned bounding box hierarchies in scenarios with thin elongated and arbitrarily rotated geometry, enhancing intersection test performance in ray…
Current trends in the computer graphics community propose leveraging the massive parallel computational power of GPUs to accelerate physically based simulations. Collision detection and solving is a fundamental part of this process. It is…
We propose a compact and efficient tetrahedral mesh representation to improve the ray-tracing performance. We reorder tetrahedral mesh data using a space-filling curve to improve cache locality. Most importantly, we propose an efficient ray…
This paper proposes a GPU-accelerated optimization framework for collision avoidance problems where the controlled objects and the obstacles can be modeled as the finite union of convex polyhedra. A novel collision avoidance constraint is…
We present an algorithm for creating an n-level ray-space hierarchy (RSH) of coherent rays that runs on the GPU. Our algorithm uses rasterization to process the primary rays, then uses those results as the inputs for a RSH, that processes…
Multi-object tracking (MOT) in monocular videos is fundamentally challenged by occlusions and depth ambiguity, issues that conventional tracking-by-detection (TBD) methods struggle to resolve owing to a lack of geometric awareness. To…
This article presents an easy distance field-based collision detection scheme to detect collisions of an object with its environment. Through the clever use of back-face culling and z-buffering, the solution is precise and very easy to…
We present a novel representation of compressed data structure for simultaneous bounding volume hierarchy (BVH) traversals like they appear for instance in collision detection & proximity query. The main idea is to compress bounding volume…
Our goal is to develop an efficient contact detection algorithm for large-scale GPU-based simulation of non-convex objects. Current GPU-based simulators such as IsaacGym and Brax must trade-off speed with fidelity, generality, or both when…
Collision detection appears as a canonical operation in a large range of robotics applications from robot control to simulation, including motion planning and estimation. While the seminal works on the topic date back to the 80s, it is only…
We present an efficient open-source implementation of the multiparticle collision dynamics (MPCD) algorithm that scales to run on hundreds of graphics processing units (GPUs). We especially focus on optimizations for modern GPU…