{"id":"https://openalex.org/W1825166451","doi":"https://doi.org/10.1109/icra.2015.7139808","title":"GPU-based proximity query processing on unstructured triangular mesh model","display_name":"GPU-based proximity query processing on unstructured triangular mesh model","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1825166451","doi":"https://doi.org/10.1109/icra.2015.7139808","mag":"1825166451"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139808","doi":"https://doi.org/10.1109/icra.2015.7139808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139808","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"parent_works":[],"lineage":["https://openalex.org/W1825166451"],"child_works_count":0,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069587387","display_name":"Kit-Hang Lee","orcid":"https://orcid.org/0000-0003-3933-3251","observed_orcids":["https://orcid.org/0000-0003-3933-3251"]},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kit-Hang Lee","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103122555","display_name":"Ziyan Guo","orcid":"https://orcid.org/0000-0003-3366-0331","observed_orcids":["https://orcid.org/0000-0003-3366-0331"]},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ziyan Guo","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103564060","display_name":"Gary C.T. Chow","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Gary C.T. Chow","raw_affiliation_strings":["Department of Computing, Imperial College London, London, U.K","Department of Computing, Imperial College London, SW7 2AZ, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Department of Computing, Imperial College London, SW7 2AZ, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100454821","display_name":"Yue Chen","orcid":"https://orcid.org/0000-0002-7594-7587","observed_orcids":["https://orcid.org/0000-0002-7594-7587","https://orcid.org/0009-0008-4744-7148"]},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yue Chen","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057940557","display_name":"Wayne W. Luk","orcid":"https://orcid.org/0000-0002-6750-927X","observed_orcids":["https://orcid.org/0000-0002-6750-927X"]},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wayne Luk","raw_affiliation_strings":["Department of Computing, Imperial College London, London, U.K","Department of Computing, Imperial College London, SW7 2AZ, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]},{"raw_affiliation_string":"Department of Computing, Imperial College London, SW7 2AZ, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049212334","display_name":"Ka\u2010Wai Kwok","orcid":"https://orcid.org/0000-0003-1879-9730","observed_orcids":["https://orcid.org/0000-0003-1879-9730"]},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ka-Wai Kwok","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8421,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.70906298,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":95},"biblio":{"volume":"4","issue":null,"first_page":"4405","last_page":"4411"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.3815999925136566,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.3815999925136566,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.23839999735355377,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.0803999975323677,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/proximity-queries","display_name":"proximity queries","score":0.9210000038146973},{"id":"https://openalex.org/keywords/gpu-computing","display_name":"GPU computing","score":0.7860000133514404},{"id":"https://openalex.org/keywords/triangle-meshes","display_name":"triangular meshes","score":0.7689999938011169},{"id":"https://openalex.org/keywords/collision-detection","display_name":"collision detection","score":0.8360000252723694},{"id":"https://openalex.org/keywords/non-convex-objects","display_name":"non-convex objects","score":0.8849999904632568},{"id":"https://openalex.org/keywords/parallel-algorithms","display_name":"parallel algorithms","score":0.6349999904632568},{"id":"https://openalex.org/keywords/humanoid-robotics","display_name":"humanoid robotics","score":0.5799999833106995}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8090154528617859},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.6261330842971802},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5651395916938782},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4930853545665741},{"id":"https://openalex.org/C21442007","wikidata":"https://www.wikidata.org/wiki/Q1027879","display_name":"Graphics","level":2,"score":0.4819483458995819},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4731665253639221},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4533081650733948},{"id":"https://openalex.org/C77660652","wikidata":"https://www.wikidata.org/wiki/Q150971","display_name":"Computer graphics","level":2,"score":0.4386327862739563},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43227285146713257},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.42663323879241943},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4261060953140259},{"id":"https://openalex.org/C459310","wikidata":"https://www.wikidata.org/wiki/Q117801","display_name":"Computational science","level":1,"score":0.4116630256175995},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.375919908285141},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3748890161514282},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3216739296913147},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2015.7139808","doi":"https://doi.org/10.1109/icra.2015.7139808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139808","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10188955","doi":null,"is_oa":false,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10188955/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"In: 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE: Seattle, WA, USA. (2015)","raw_type":"Proceedings paper"},{"id":"pmh:oai:hub.hku.hk:10722/213553","doi":null,"is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/213553","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference_Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320904","display_name":"Croucher Foundation","ror":"https://ror.org/04741mc34"},{"id":"https://openalex.org/F4320322170","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1561756543","https://openalex.org/W1577204246","https://openalex.org/W1751219437","https://openalex.org/W1866151417","https://openalex.org/W1971536112","https://openalex.org/W1999262617","https://openalex.org/W2009241099","https://openalex.org/W2015525141","https://openalex.org/W2016956950","https://openalex.org/W2017484120","https://openalex.org/W2020551874","https://openalex.org/W2026706969","https://openalex.org/W2045471590","https://openalex.org/W2053915271","https://openalex.org/W2098422694","https://openalex.org/W2100809848","https://openalex.org/W2106281916","https://openalex.org/W2110324109","https://openalex.org/W2128677987","https://openalex.org/W2136054249","https://openalex.org/W2142880425","https://openalex.org/W2160821479","https://openalex.org/W2161269358","https://openalex.org/W2162537142","https://openalex.org/W2163228497","https://openalex.org/W2166316739","https://openalex.org/W2188845911","https://openalex.org/W2546089398","https://openalex.org/W7066805612"],"related_works":["https://openalex.org/W7097122204","https://openalex.org/W2094255885","https://openalex.org/W2046686654","https://openalex.org/W1978339264","https://openalex.org/W960734427","https://openalex.org/W2027931070","https://openalex.org/W2039499110","https://openalex.org/W2252354499","https://openalex.org/W7167271569","https://openalex.org/W287096211"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"novel":[4],"proximity":[5],"query":[6],"(PQ)":[7],"approach":[8,60],"capable":[9],"to":[10,45,62,126],"detect":[11],"the":[12,16,27,30,64,70,128],"collision":[13],"and":[14,29,55,101,139],"calculate":[15],"minimal":[17],"Euclidean":[18],"distance":[19],"between":[20],"two":[21,121],"non-convex":[22],"objects":[23],"in":[24,69,124,135],"3D,":[25],"namely":[26],"robot":[28,56],"environment.":[31],"Such":[32],"approaches":[33],"are":[34,42],"often":[35],"considered":[36],"as":[37,49],"computationally":[38,80],"demanding":[39],"problems,":[40],"but":[41],"of":[43,52,66,72,131],"importance":[44],"many":[46],"applications":[47],"such":[48],"online":[50],"simulation":[51],"haptic":[53],"feedback":[54],"collision-free":[57],"trajectory.":[58],"Our":[59],"enables":[61],"preserve":[63],"representation":[65],"unstructured":[67],"environment":[68],"form":[71],"triangular":[73],"meshes.":[74],"The":[75],"proposed":[76],"PQ":[77],"algorithm":[78],"is":[79,98,117],"parallel":[81],"so":[82],"that":[83],"it":[84],"can":[85],"be":[86],"effectively":[87],"implemented":[88],"on":[89,120],"graphics":[90],"processing":[91],"units":[92],"(GPUs).":[93],"A":[94],"GPU-based":[95],"computation":[96],"scheme":[97],"also":[99,118],"developed":[100],"customized,":[102],"which":[103],"shows":[104],">200":[105],"times":[106],"faster":[107],"than":[108],"an":[109],"optimized":[110],"CPU":[111],"with":[112],"single":[113],"core.":[114],"Comprehensive":[115],"validation":[116],"conducted":[119],"simulated":[122],"scenarios":[123],"order":[125],"demonstrate":[127],"practical":[129],"values":[130],"its":[132],"potential":[133],"application":[134],"image-guided":[136],"surgical":[137],"robotics":[138],"humanoid":[140],"robotic":[141],"control.":[142]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2016-06-24T00:00:00"}