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Title: Incremental version of growth distance
Authors: Ong, Chong Jin 
Huang, Eugene
Issue Date: 1998
Citation: Ong, Chong Jin,Huang, Eugene (1998). Incremental version of growth distance. Proceedings - IEEE International Conference on Robotics and Automation 4 : 3671-3677. ScholarBank@NUS Repository.
Abstract: A fast algorithm is presented for computing the growth distance between a pair of convex objects in three dimensional space. The growth distance has been introduced as a measure of both separation and penetration between objects. This article presents an approach to the growth distance computation using geometrical consideration. Under appropriate conditions, the computational time is very small and does not depend on the total number of faces of the objects. This increase in speed comes from the use of information on the adjacency of faces of the objects. Such adjacency information is particularly useful for object undergoing incremental motion. Computational experiments provided shows that the performance of the algorithm is in the same range as the fastest Euclidean distance code that we know of [2], [7],[9].
Source Title: Proceedings - IEEE International Conference on Robotics and Automation
ISSN: 10504729
Appears in Collections:Staff Publications

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