Hardware accelerated broad phase collision detection

Collision detection, which refers to the computational problem of finding the relative placement or con-figuration of two or more objects, is an essential component of many applications in computer graphics and robotics. In image-guided robotic surgery, real-time collision detection is critical for preserving healthy anatomical structures during the surgical procedure. However, the computational complexity of the problem usually results in algorithms that operate at low speed. In this paper, we present a fast and accurate algorithm for collision detection between Oriented-Bounding-Boxes (OBBs) that is suitable for real-time implementation. Our proposed Sweep and Prune algorithm can perform a preliminary filtering to reduce the number of objects that need to be tested by the classical Separating Axis Test algorithm, while the OBB pairs of interest are preserved. These OBB pairs are re-checked by the Separating Axis Test algorithm to obtain accurate overlapping status between them. To accelerate the execution, our Sweep and Prune algorithm is tailor-made for the proposed method. Meanwhile, a high performance scalable hardware architecture is proposed by analyzing the intrinsic parallelism of our algorithm, and is implemented on FPGA platform. Results show that our hardware design on the FPGA platform can achieve around 8X higher running speed than the software design on a CPU platform. As a result, the proposed algorithm can achieve a collision frame rate of 1 KHz, and fulfill the requirement for the medical surgery scenario of Robot Assisted Laparoscopy.

The quality of collision detection algorithm directly affects the performance of the whole simulation system. To address the low efficiency and low accuracy in detecting the collisions of flexible cloths in virtual environments, this paper proposes an oriented bounding box (OBB) algorithm with a simplified model, tree structure for a root-node double bounding box, and continuous collision detection algorithm incorporating an OpenNN-based neural network optimization. First, for objects interacting with the cloths with more complex modeling, the model is simplified with a surface simplification algorithm based on the quadric error metrics, and the simplified model is used to construct an OBB. Second, a bounding box technique commonly used for collision detection is improved, and a root-node double bounding box algorithm is proposed to reduce the construction time for the bounding box. Finally, neural networks are used to optimize the continuous collision detection algorithm, as neural networks can efficiently process large amounts of data and remove disjoint collision pairs. An experiment shows that the construction of an OBB using the simplified model is almost identical to that of the original model, but the taken to construct the OBB is reduced by a factor of approximately 2.7. For the same cloth, it takes 5.51%–11.32% less time to run the root-node double bounding box algorithm than the traditional-hybrid bounding box algorithm. With an average removal rate nearly identical to that of the traditional filtering method, the elapsed time is reduced by 7%–11% by using the continuous collision detection algorithm based on an OpenNN neural network optimization. The simulation results are realistic and in line with the requirements for real-time cloth simulations.

This article explores the integration of Brute Force (BF) methods and Greedy algorithms to develop a versatile decision tree (DT) algorithm that balances efficiency, complexity, and accuracy. The study introduces a parameterized search procedure that harnesses the strengths of both approaches, applicable to ensemble methods like AdaBoost and Random Forests (RFs). The primary research question investigates whether enhanced utilization of BF approaches can improve the quality of greedy DT algorithms without increasing their complexity. Key hypotheses address the trade-off between tree complexity and user interpretability, the potential for reduced complexity through BF methods, and the impact on computational time and accuracy. A qualitative field study supports these hypotheses, revealing that simpler DT structures are easier to interpret. Additionally, algorithmic evaluations suggest that incorporating BF methods can enhance the accuracy of greedy DTs without significantly extending computation time.

Spatial data structures form a core ingredient of many geometric algorithms, both in theory and in practice. Many of these data structures, especially the ones used in practice, are based on partitioning the underlying space (examples are binary space partitions and decompositions of polygons) or partitioning the set of objects (examples are bounding-volume hierarchies). The efficiency of such data structures---and, hence, of the algorithms that use them---depends on certain characteristics of the partitioning. For example the performance of many algorithms that use binary space partitions (BSPs) depends on the size of the BSPs. Similarly, the performance of answering range queries using bounding-volume hierarchies (BVHs) depends on the so-called crossing number that can be associated with the partitioning on which the BVH is based. Much research has been done on the problem of computing partitioning whose characteristics are good in the worst case. In this thesis, we studied the problem from a different point of view, namely instance-optimality. In particular, we considered the following question: given a class of geometric partitioning structures---like BSPs, simplicial partitions, polygon triangulations, …---and a cost function---like size or crossing number---can we design an algorithm that computes a structure whose cost is optimal or close to optimal for any input instance (rather than only worst-case optimal). We studied the problem of finding optimal data structures for some of the most important spatial data structures. As an example having a set of n points and an input parameter r, It has been proved that there are input sets for which any simplicial partitions has crossing number ¿(vr). It has also been shown that for any set of n input points and the parameter r one can make a simplicial partition with stabbing number O(vr). However, there are input point sets for which one can make simplicial partition with lower stabbing number. As an example when the points are on a diagonal, one can always make a simplicial partition with stabbing number 1. We started our research by studying BSPs for line segments in the plane, where the cost function is the size of the BSPs. A popular type of BSPs for line segments are the so-called auto-partitions. We proved that finding an optimal auto-partition is NP-hard. In fact, finding out if a set of input segments admits an auto-partition without any cuts is already NP-hard. We also studied the relation between two other types of BSPs, called free and restricted BSPs, and showed that the number of cuts of an optimal restricted BSP for a set of segments in R2 is at most twice the number of cuts of an optimal free BSP for that set. The details are being represented in Chapter 1 of the thesis. Then we turned our attention to so-called rectilinear r-partitions for planar point sets, with the crossing number as cost function. A rectilinear r-partition of a point set P is a partitioning of P into r subsets, each having roughly |P|/r points. The crossing number of the partition is defined using the bounding boxes of the subsets; in particular, it is the maximum number of bounding boxes that can be intersected by any horizontal or vertical line. We performed some theoretical as well as experimental studies on rectilinear r-partitions. On the theoretical side, we proved that computing a rectilinear r-partition with optimal stabbing number for a given set of points and parameter r is NP-hard. We also proposed an exact algorithm for finding optimal rectilinear r-partitions whose running time is polynomial when r is a constant, and a faster 2-approximation algorithm. Our last theoretical result showed that considering only partitions whose bounding boxes are disjoint is not sufficient for finding optimal rectilinear r-partitions. On the experimental side, we performed a comparison between four different heuristics for constructing rectilinear r-partitions. The so-called windmill KD-tree gave the best results. Chapter 2 of the thesis describes all the details of our research on rectilinear r-partitions. We studied another spatial data structure in Chapter 3 of the thesis. Decomposition of the interior of polygons is one of the fundamental problems in computational geometry. In case of a simple polygon one usually wants to make a Steiner triangulation of it, and when we have a rectilinear polygon at hand, one typically wants to make a rectilinear decomposition for it. Due to this reason there are algorithms which make Steiner triangulations and rectangular decompositions with low stabbing number. These algorithms are worst-case optimal. However, similar to the two previous data structures, there are polygons for which one can make decompositions with lower stabbing numbers. In 3 we proposed a 3-approximation for finding an optimal rectangular decomposition of a rectilinear polygon. We also proposed an O(1)-approximation for finding optimal Steiner triangulation of a simple polygon. Finally, in Chapter 4 of the thesis, we considered another optimization problem, namely how to approximate a piecewise-linear function F: R ¿R with another piecewise-linear function with fewer pieces. Here one can distinguish two versions of the problem. The first one is called the min-k problem; the goal is then to approximate the function within a given error e such that the resulting function has the minimum number of links. The second one is called the min-e problem; here the goal is to find an approximation with at most k links (for a given k) such that the error is minimized. These problems have already been studied before. Our contribution is to consider the problem for so-called uncertain functions, where the value of the input function F at its vertices is given as a discrete set of different values, each with an associated probability. We show how to compute an approximation that minimizes the expected error.

It is challenging to accurately detect flexible objects with arbitrary orientation from monitoring images in power grid maintenance and inspection sites. This is because these images exhibit a significant imbalance between the foreground and background, which can lead to low detection accuracy when using a horizontal bounding box (HBB) as the detector in general object detection algorithms. Existing multi-oriented detection algorithms that use irregular polygons as the detector can improve accuracy to some extent, but their accuracy is limited due to boundary problems during the training process. This paper proposes a rotation-adaptive YOLOv5 (R_YOLOv5) with a rotated bounding box (RBB) to detect flexible objects with arbitrary orientation, effectively addressing the above issues and achieving high accuracy. Firstly, a long-side representation method is used to add the degree of freedom (DOF) for bounding boxes, enabling accurate detection of flexible objects with large spans, deformable shapes, and small foreground-to-background ratios. Furthermore, the further boundary problem induced by the proposed bounding box strategy is overcome by using classification discretization and symmetric function mapping methods. Finally, the loss function is optimized to ensure training convergence for the new bounding box. To meet various practical requirements, we propose four models with different scales based on YOLOv5, namely R_YOLOv5s, R_YOLOv5m, R_YOLOv5l, and R_YOLOv5x. Experimental results demonstrate that these four models achieve mean average precision (mAP) values of 0.712, 0.731, 0.736, and 0.745 on the DOTA-v1.5 dataset and 0.579, 0.629, 0.689, and 0.713 on our self-built FO dataset, exhibiting higher recognition accuracy and a stronger generalization ability. Among them, R_YOLOv5x achieves a mAP that is about 6.84% higher than ReDet on the DOTAv-1.5 dataset and at least 2% higher than the original YOLOv5 model on the FO dataset.

To achieve an accurate measurement of tread size after fixed-length cutting, this paper proposes a point-cloud-based tread size measurement method. Firstly, a mathematical model of corner points and a reprojection error is established, and the optimal solution of the number of corner points is determined by the non-dominated sorting genetic algorithm II (NSGA-II), which reduces the reprojection error of the RGB-D camera. Secondly, to address the problem of the low accuracy of the traditional pixel metric ratio measurement method, the random sampling consensus point cloud segmentation algorithm (RANSAC) and the oriented bounding box (OBB) collision detection algorithm are introduced to complete the accurate detection of the tread size. By comparing the absolute error and relative error data of several groups of experiments, the accuracy of the detection method in this paper reaches 1 mm, and the measurement deviation is between 0.14% and 2.67%, which is in line with the highest accuracy standard of the national standard. In summary, the RGB-D visual inspection method constructed in this paper has the characteristics of low cost and high inspection accuracy, which is a potential solution to enhance the pickup guidance of tread size measurement.

Collision detection algorithms are used in aerospace, swarm robotics, automotive, video gaming, dynamics simulation and other domains. As many applications of collision detection run online, timing requirements are imposed on the algorithm runtime: algorithms must, at a minimum, keep up with the passage of time. Even offline reachability computation can be slowed down by the process of safety checking when n is large and the specification is n-to-n collision avoidance. In practice, this places a limit on the number of objects, n, that can be concurrently tracked or verified. In this paper, we present an improved method for efficient object tracking and collision detection, based on a modified version of the axis-aligned bounding-box (AABB) tree data structure. We consider 4D AABB Trees, where a time dimension is added to the usual three space dimensions, in order to enable per-object time steps when checking for collisions in space-time. We evaluate the approach on a space debris collision benchmark, demonstrating efficient checking beyond the full catalog of n = 16848 space objects made public by the U.S. Strategic Command on www.space-track.org.

In the manual dictionary the more words are accommodated, the heavier the dictionary. Dictionaries that are generally book-shaped are difficult to carry anywhere because they are thick and heavy. With this mobile-based computer dictionary application, users no longer need to carry heavy dictionaries and the search process will also be faster and easier. This mobile-based kmputer dictionary application is created using the java programming language with the NetBeans 7.0 editor and using an RMS (Record Management System) based database. So it can be installed on various types of mobile phones that already support Java. String Matching is one of the algorithms used to speed up the search process for the desired word. String matching algorithms have been used frequently before as examples in the process of matching strings based on the equation of text data namely Brute Force. Because this Brute Force algorithm can be used to perform string or text searches. Brute force algorithm is an algorithm to match a pattern with all text between 0 and n-m to find the presence of a pattern in text.

Collision detection is one of the key research areas in computer simulation and virtual reality, and bounding box-based collision detection algorithm is a relatively convenient and effective way. In this paper, in order to overcome the shortcomings of the traditional bounding box algorithm, a series of optimization methods are listed. Experimental results show that the optimized bounding box collision detection algorithm has effectively improved the accuracy and the speed of collision detection, and it has also enhanced the interaction and real-time of the system.

Translator is a tool to assist in translating a language from another language. Translator is very useful for tourists when traveling to other countries or other regions that do not understand the language of the country or area visited. Translator is also very useful for a student or student to learn and add knowledge about foreign languages that are not understood. The availability of translators in a university to improve services for students or those who need them. Students don't all understand foreign languages. String matching is a search technique in a text that is often called string search. String matching is often used in text search, location search, dictionary and so on. String matching has several algorithms, including brute force, boyer moore, knuth morris pratt and many more algorithms contained in string mathing. The Indonesian to English translator application uses the string mathing brute force algorithm. Brute force algorithm is matching each character from left to right.Keywords: Translator, String Matching, Algorithm, Brute Force

In moving object detection systems, the moving objects are detected as clusters of bounding boxes based on the image differences (or motions) between frames. These differences are marked by multiple moving bounding boxes that may or may not overlapped, therefore a bounding boxing merging problem arise. The aim of this paper is to present an algorithm that derives fuzzy rules to merge the detected bounding boxes into a unique cluster bounding box that covers a unique object. In order to do this, we first define the relationships of a pair of boxes by their box geometrical affinity, by their motion cohesion, and their appearance similarity, etc. The box pair-wise relations are fuze by means of fuzzy rules and derive a fuzzy logic formulation on whether a pair of boxes can be merged or not. By considering the fuzzyness of the merging decision as a distance metric between the box pairs, the moving objects can be detected by an revised agglomerative clustering algorithm. In the experiments, we demonstrate the performance of our fuzzy moving object detection algorithm by detecting moving vehicles in aerial videos. The purpose of this note is to explore in a preliminary way the use of a fuzzy logic approach to model the uncertainty inherent in detection systems.

Ray tracing is an essential operation for realistic image synthesis. The acceleration of ray tracing has been studied for a long period of time because algorithms such as light transport simulations require a large amount of ray tracing. One of the major approaches to accelerate the intersections is to use bounding volumes for early pruning for primitives in the volume. The axis-aligned bounding box is a popular bounding volume for ray tracing because of its simplicity and efficiency. However, the conservative bounding volume may produce extra empty space in addition to its content. Especially, primitives that are thin and diagonal to the axis give false-positive hits on the box volume due to the extra space. Although more complex bounding volumes such as oriented bounding boxes may reduce more false-positive hits, they are computationally expensive. In this paper, we propose a novel culling approach to reduce false-positive hits for the bounding box by embedding a binary voxel data structure to the volume. As a ray is represented as a conservative voxel volume as well in our approach, the ray--voxel intersection is cheaply done by bitwise AND operations. Our method is applicable to hierarchical data structures such as bounding volume hierarchy (BVH). It reduces false-positive hits due to the ray--box test and reduces the number of intersections during the traversal of BVH in ray tracing. We evaluate the reduction of intersections with several scenes and show the possibility of performance improvement despite the culling overhead. We also introduce a compression approach with a lookup table for our voxel data. We show that our compressed voxel data achieves significant false-positive reductions with a small amount of memory.

String matching is an algorithm for matching a text to another text or also known as a text search. There are several algorithms that can be used for string matching, including the Boyer-Moore algorithm and the Brute Force algorithm. The Boyer-Moore algorithm is a string matching algorithm published by Robert S. Boyer and J. Strother Moore in 1977. This algorithm is considered the most efficient algorithm in general applications. The Boyer-Moore algorithm starts matching characters from the pattern on the right. While the Brute Force algorithm is an algorithm that matches a pattern with all text between 0 and n-m to find the existence of a pattern in the text. These two algorithms have different patterns in the search process. In this article, a comparative analysis of the performance of the Boyer-Moore and Brute Force algorithms is carried out in a case study of the search for the Big Indonesian Dictionary (KBBI) based on Android. The search process is carried out by searching based on words and word descriptions. The results of this study indicate that the criteria for running time, the Brute Force algorithm is faster than the Boyer-Moore algorithm with the total running time of the Brute Force algorithm is 168.3 ms in words, 6994.16 ms in word descriptions, while the Boyer-Moore algorithm for running time reached 304.7 ms on the word, 8654.77 ms on the word description. In the testing criteria based on related keywords, the two algorithms can display the same list of related keywords.

Crowded interactive environments composed of a large number of objects need a fast, accurate and scalable mechanism for collision detection. This work presents a detailed performance analysis of a hybrid collision detection algorithm for highly interactive and crowded environments. Extensive tests were conducted and the performance of the algorithm was evaluated in terms of output quality and running time, by applying a usability criteria. The results show that interactive frame rates for environments composed of 1000 colliding objects can be successfully achieved with a good level of user satisfaction using the sweep & prune algorithm together with sphere-trees generated by the combined algorithm

Dynamic programming is used infrequently by APL programmers, in spite of its ability to reduce the computational effort required to solve many problems. This paper uses the String Shuffle problem as the basis for a comparison of brute force, recursive, and dynamic programming algorithms. Simple algorithms for each of these approaches are designed and evaluated, then individually optimized and re-evaluated, to show the benefits of dynamic programming. The dynamic programming algorithm is then recast to use flow control structures recently introduced into ISI J and APL*PLUS III. Use of control structures in conjunction with dynamic programming results in orders of magnitude performance improvement over brute force and naive recursive algorithms. APL*PLUS III control structures are shown to provide a performance improvement of up to 30% over GOTO-based loops.