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Realtime path planning in heterogeneous environments
 Computer Animation and Virtual Worlds (CAVW
"... Modern virtual environments can contain a variety of characters and traversable regions. Each character may have different preferences for the traversable region types. Pedestrians may prefer to walk on sidewalks, but they may occasionally need to traverse roads and dirt paths. By contrast, wild ani ..."
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Modern virtual environments can contain a variety of characters and traversable regions. Each character may have different preferences for the traversable region types. Pedestrians may prefer to walk on sidewalks, but they may occasionally need to traverse roads and dirt paths. By contrast, wild animals might try to stay in forest areas, but they are able to leave their protective environment when necessary. This paper presents a novel path planning method named MIRAN (Modified Indicative Routes and Navigation) that takes a character’s region preferences into account. Given an indicative route as a rough estimation of a character’s preferred route, MIRAN efficiently computes a visually convincing path that is smooth, keeps clearance from obstacles, avoids unnecessary detours, and allows local changes to avoid other characters. To the best of our knowledge, MIRAN is the first path planning method that supports the above features while using an exact representation of the navigable space. Experiments show that with our approach a wide range of different character behaviors can be simulated. It also overcomes problems that occur in previous path planning methods such as the Indicative Route Method. The resulting paths are wellsuited for realtime simulations and gaming applications.
Approximating Geodesic Distances on 2Manifolds in R 3
"... We present an algorithm for approximating geodesic distances on 2manifolds in R 3. Our algorithm works on an εsample of the underlying manifold and computes approximate geodesic distances between all pairs of points in this sample. The approximation error is multiplicative and depends on the densi ..."
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We present an algorithm for approximating geodesic distances on 2manifolds in R 3. Our algorithm works on an εsample of the underlying manifold and computes approximate geodesic distances between all pairs of points in this sample. The approximation error is multiplicative and depends on the density of the sample. For an εsample S, the algorithm has a nearoptimal running time of O ( S  2 log S  ) , an optimal space requirement of O ( S  2) , and approximates the geodesic distances up to a factor of 1 − O ( √ ε) and (1 − O (ε)) −1. 1
Subdivision Surface Fitting to a Dense Mesh Using Ridges and Umbilics
"... Abstract: Fitting a sparse surface to approximate vast dense data is of interest for many applications: reverse engineering, recognition and compression, etc. The present work provides an approach to fit a Loop subdivision surface to a dense triangular mesh of arbitrary topology, whilst preserving a ..."
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Abstract: Fitting a sparse surface to approximate vast dense data is of interest for many applications: reverse engineering, recognition and compression, etc. The present work provides an approach to fit a Loop subdivision surface to a dense triangular mesh of arbitrary topology, whilst preserving and aligning the original features. The natural ridgejoined connectivity of umbilics and ridgecrossings is used as the connectivity of the control mesh for subdivision, so that the edges follow salient features on the surface. Further more, the chosen features and connectivity characterise the overall shape of the original mesh, since ridges capture extreme principal curvatures and ridges start and end at umbilics. A metric of Hausdorff distance including curvature vectors is proposed and implemented in a distance transform algorithm to construct the connectivity. Ridgecolour matching is introduced as a criterion for edge flipping to improve feature alignment. Several examples are provided to demonstrate the featurepreserving capability of the proposed approach.
Fast query structures in anisotropic media
"... Abstract. We study the minimum cost path problem in an environment where the cost is directiondependent (anisotropic). This problem arise in sailing, robotics, aircraft navigation, and routing of autonomous vehicles, where the cost is affected by the direction of waves, winds or slope of the terrai ..."
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Abstract. We study the minimum cost path problem in an environment where the cost is directiondependent (anisotropic). This problem arise in sailing, robotics, aircraft navigation, and routing of autonomous vehicles, where the cost is affected by the direction of waves, winds or slope of the terrain. We present an approximation algorithm to find a minimum cost path for a point robot moving in a planar subdivision, where each face is assigned a translational flow that reflects the cost of travelling within this face. In addition we consider the nearest neighbor problem in an anisotropic media that is given a planar subdivision together with a set Z of m sites, a query point q, find the nearest site in Z from q. Our main contribution is a data structure that given a subdivision with translational flows returns a (1 + ε)approximate minimum cost path in the subdivision between any two query points in the plane. 1
unknown title
, 2013
"... Creating high quality indicative routes in heterogeneous virtual environments MSc Thesis (ICA0428701) ..."
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Creating high quality indicative routes in heterogeneous virtual environments MSc Thesis (ICA0428701)