K.E. Hoff III, T. Culver, J. Keyser, M. Lin, and D. Manocha. Interactive Motion Planning Using Hardware-Accelerated Computation of Generalized Voronoi Diagrams. Proc. IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, 2000. Home/Search Document Details and Download
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....Voronoi based sampling. The Voronoi roadmap is computed from a discrete approximation to the generalized Voronoi diagram of the workspace, which is generated using graphics hardware. Applications of the Voronoi diagram to motion planning for rigid bodies in 3D environments can also be found in [6, 18, 24]. 3. Planning Algorithm 3.1. Problem Statement and Objectives The problem of motion planning that we focus on in this work is described as follows: in a complex 3D environment (known as workspace in robotics literature) given a start position and a goal position of the end effector, compute ....
Hoff, K. III, Culver, T., Keyser, J., Lin, M. C., Manocha, D., "Interactive Motion Planning Using HardwareAccelerated Computation of Generalized Voronoi Diagrams", Proceedings of IEEE International Conference on Robotics and Automation, 2000.
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.... examples of this was the use of hierarchical z buffering for visibility calculations [9] and subsequently in programmable vertex shaders [19, 14, 20] Other uses of the graphics pipeline as a general purpose stream computing engine have been demonstrated in computational geometry[12] robotics[11], and numerical analysis[13] In a recent development, work by Everitt et al. 6] has shown that shadow mapping hardware (supported in the nVidia GeForce3 and newer architectures) can be used to perform order independent transparency. They demonstrate this by using the shadow mapping phase in the ....
HOFF, K., CULVER, T., KEYSER, J., LIN, M., AND MANOCHA, D. Interactive motion planning using hardwareaccelerated computation of generalized voronoi diagrams. In Proc. IEEE International Conf. on Robotics and Automation (2000).
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.... Z query feature of some specialized graphics hardware to implement their hierarchical Z buffering algorithm. Hoff et al. [11] use the hardware Z buffering capabilities to compute Voronoi diagrams of dynamic primitives in real time, which is then used for accelerated interactive motion planning [12]. Krishnan et al. [13] describe a visibility ordering algorithm for direct volume rendering of unstructured grids using a combination of the Z buffer and the stencil buffer. The paper by Hoff et al. is an example of using the graphics hardware to compute a fundamental geometric object: the Voronoi ....
HOFF, III, K. E., CULVER, T., KEYSER, J., LIN, M., AND MANOCHA, D. Interactive motion planning using hardwareaccelerated computation of generalized voronoi diagrams. In Proc. IEEE International Conference on Robotics and Automation (2000), pp. 2931--2937.
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K. Hoff, T. Culver, J. Keyser, M. Lin, and D. Manocha. Interactive motion planning using hardware accelerated computation of generalized voronoi diagrams. IEEE Conference on Robotics and Automation, pp. 2931--2937, 2000. 7
Fast and Simple 2D Geometric Proximity Queries.. - Hoff, III.. (2001) (7 citations) Self-citation (Hoff Lin Manocha) (Correct)
....computations, such as visualization of constructive solid geometry models [7] and cross sections and interferences [20] However, these only compute intersections, not distance related queries. Algorithms also exist for motion planning using graphics hardware acceleration and distance fields [11, 13,15,18]. More recently, an algorithm has been proposed to compute generalized Voronoi diagrams and distance fields using graphics hardware [10] Its application to motion planning was presented in [11,18] Our algorithm combines coarse traditional hierarchical approaches and multi pass rendering ....
.... also exist for motion planning using graphics hardware acceleration and distance fields [11, 13,15,18] More recently, an algorithm has been proposed to compute generalized Voronoi diagrams and distance fields using graphics hardware [10] Its application to motion planning was presented in [11,18]. Our algorithm combines coarse traditional hierarchical approaches and multi pass rendering techniques with the graphics hardwareaccelerated distance field computation presented in [10] The main features of our approach include a unified framework for all proximity queries, generality to ....
K. Hoff, T. Culver, J. Keyser, M. Lin, and D. Manocha. Interactive Motion Planning Using Hardware-Accelerated Computation of Generalized Voronoi Diagrams. Proc. of IEEE International Conf. on Robotics and Automation, 2000
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K.E. Hoff III, T. Culver, J. Keyser, M. Lin, and D. Manocha. Interactive Motion Planning Using Hardware-Accelerated Computation of Generalized Voronoi Diagrams. Proc. IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, 2000.
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Ho#, K., Culver, T., Keyser, J., Lin, M. and Manocha D.: Interactive motion planning using hardware accelerated computation of generalized voronoi diagrams. IEEE Conference on Robotics and Automation (2000) 2931--2937
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K. Ho#, T. Culver, J. Keyser, M. Lin, and D. Manocha. Interactive Motion Planning using Hardware Accelerated Computation of Generalized Voronoi Diagrams. In IEEE Conference on Robotics and Automation, pages 2931--2937, 2000.
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