A Triangle Intersection Detection Method Applied to Teleoperation 3D Visual Simulation

A technology of 3D vision and intersection detection, applied in image data processing, 3D modeling, instruments, etc., can solve the problem of time-consuming collision detection, etc.

Active Publication Date: 2017-12-08
NORTHWESTERN POLYTECHNICAL UNIV
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  • Claims
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Problems solved by technology

[0004] However, to ensure the real-time interaction between the operator and the prediction model depends on the speed of model simulation calculation, and the most time-consuming part of graphical prediction is collision detection. When the model needs to perform fine collision detection, the collision detection takes longer. Fine-grained collision detection requires an intersection test for each pair of triangles in the model.

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  • A Triangle Intersection Detection Method Applied to Teleoperation 3D Visual Simulation
  • A Triangle Intersection Detection Method Applied to Teleoperation 3D Visual Simulation
  • A Triangle Intersection Detection Method Applied to Teleoperation 3D Visual Simulation

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Embodiment Construction

[0042] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0043] see figure 1 and figure 2 , this embodiment describes that in a scene of teleoperation with a manipulator, the triangle intersection detection algorithm of the present invention is used to traverse the triangle patch of the hand claw model and perform the following steps.

[0044] Step 1: Establish calculation coordinate system

[0045] Denote the triangle facet as ΔP 1 P 2 P 3 , vertex P 1 ,P 2 ,P 3 in counterclockwise order. make p 1 =P 2 -P 1 ,p 2 =P 3 -P 1 , get [p 1 p 2 p 1 ×p 2 ] -1 .

[0046] To traverse the triangular patches of the target model, perform the following steps.

[0047] Step 2: Vertex coordinate transformation

[0048] Denote the triangular facet as ΔQ 1 Q 2 Q 3 , vertex Q 1 , Q 2 , Q 3 in counterclockwise order.

[0049] calculate Where 1≤i≤3 represents three vertices.

[0050] Step 3: Judging Δ...

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Abstract

The invention discloses a triangle intersection detection method applied to three-dimensional visual simulation of remote operation, and proposes a new triangle intersection detection algorithm for fine collision detection of three-dimensional graphic models. Compared with the traditional triangle intersection test algorithm, the present invention does not have the step of exchanging two triangles for recalculation, thereby saving a lot of calculation work by reusing the calculation results of the same triangle, and improving the speed of fine collision detection of 3D graphic models as a whole.

Description

technical field [0001] The invention belongs to the field of three-dimensional simulation display of virtual reality and space teleoperation, and relates to a graphic collision detection method, in particular to a triangle intersection detection method applied to three-dimensional visual simulation of teleoperation. Background technique [0002] Teleoperation plays an important role in the field of space offensive and defensive confrontation. Using space robots to complete various space tasks is a trend in space development. Technologies such as obstacle avoidance have extremely important application prospects. However, due to the existence of time delay, delayed feedback information such as vision and force sense cannot provide the operator with a real-time sense of presence, and it is easy to mislead the operator's operation behavior, which in turn affects the safe execution of teleoperation tasks. [0003] The most important problem of teleoperation technology is to overc...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/00
Inventor 黄攀峰潘吉祥刘正雄孟中杰常海涛台健生
Owner NORTHWESTERN POLYTECHNICAL UNIV
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