{"id":"https://openalex.org/W2163998405","doi":"https://doi.org/10.1080/10867651.1999.10487502","title":"A Fast and Robust GJK Implementation for Collision Detection of Convex Objects","display_name":"A Fast and Robust GJK Implementation for Collision Detection of Convex Objects","publication_year":1999,"publication_date":"1999-01-01","ids":{"openalex":"https://openalex.org/W2163998405","doi":"https://doi.org/10.1080/10867651.1999.10487502","mag":"2163998405"},"language":"en","primary_location":{"id":"doi:10.1080/10867651.1999.10487502","is_oa":false,"landing_page_url":"https://doi.org/10.1080/10867651.1999.10487502","pdf_url":null,"source":{"id":"https://openalex.org/S4210240212","display_name":"Journal of Graphics Tools","issn_l":"1086-7651","issn":["1086-7651"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Graphics Tools","raw_type":"journal-article"},"type":"article","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/A5067669101","display_name":"Gino van den Bergen","orcid":null},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Gino Van den Bergen","raw_affiliation_strings":["Department of Mathematics and Computing Science , Eindhoven University of Technology , P.O. Box 513, Eindhoven , 5600 , MB , The Netherlands E-mail: gino@win.tue.nl"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Computing Science , Eindhoven University of Technology , P.O. Box 513, Eindhoven , 5600 , MB , The Netherlands E-mail: gino@win.tue.nl","institution_ids":["https://openalex.org/I83019370"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5067669101"],"corresponding_institution_ids":["https://openalex.org/I83019370"],"apc_list":null,"apc_paid":null,"fwci":5.6074,"has_fulltext":false,"cited_by_count":259,"citation_normalized_percentile":{"value":0.96156341,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"4","issue":"2","first_page":"7","last_page":"25"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9994999766349792,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.7502474784851074},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7235550284385681},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.6805042624473572},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.6697494983673096},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6285367608070374},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.5709778666496277},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5623607635498047},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4838920533657074},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4545612931251526},{"id":"https://openalex.org/keywords/geometric-primitive","display_name":"Geometric primitive","score":0.4173971712589264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39817631244659424},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38916924595832825},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3003356456756592},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15357345342636108}],"concepts":[{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.7502474784851074},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7235550284385681},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.6805042624473572},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.6697494983673096},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6285367608070374},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.5709778666496277},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5623607635498047},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4838920533657074},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4545612931251526},{"id":"https://openalex.org/C181095308","wikidata":"https://www.wikidata.org/wiki/Q1541599","display_name":"Geometric primitive","level":2,"score":0.4173971712589264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39817631244659424},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38916924595832825},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3003356456756592},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15357345342636108},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1080/10867651.1999.10487502","is_oa":false,"landing_page_url":"https://doi.org/10.1080/10867651.1999.10487502","pdf_url":null,"source":{"id":"https://openalex.org/S4210240212","display_name":"Journal of Graphics Tools","issn_l":"1086-7651","issn":["1086-7651"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Graphics Tools","raw_type":"journal-article"},{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/baa0f17f-bbce-462b-ad3c-43faf35cf272","is_oa":false,"landing_page_url":"https://research.tue.nl/en/publications/baa0f17f-bbce-462b-ad3c-43faf35cf272","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Bergen, van den, G J A 1999, 'A fast and robust GJK implementation for collision detection of convex objects', Journal of Graphics Tools, vol. 4, no. 2, pp. 7-25. https://doi.org/10.1080/10867651.1999.10487502","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.25.7659","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.25.7659","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.win.tue.nl/cs/tt/gino/solid/jgt98convex.ps","raw_type":"text"},{"id":"pmh:tue:oai:pure.tue.nl:publications/baa0f17f-bbce-462b-ad3c-43faf35cf272","is_oa":false,"landing_page_url":"https://research.tue.nl/nl/publications/baa0f17f-bbce-462b-ad3c-43faf35cf272","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Graphics Tools, 4(2), 7 - 25","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W120536699","https://openalex.org/W205527636","https://openalex.org/W1594366634","https://openalex.org/W2094539937","https://openalex.org/W2122796818","https://openalex.org/W2129486961","https://openalex.org/W2153504150","https://openalex.org/W2159622977","https://openalex.org/W2163228497","https://openalex.org/W2166316739"],"related_works":["https://openalex.org/W2541791370","https://openalex.org/W2035976912","https://openalex.org/W2383278621","https://openalex.org/W3094187672","https://openalex.org/W1999222583","https://openalex.org/W2921707373","https://openalex.org/W2024152175","https://openalex.org/W2536727263","https://openalex.org/W2158207955","https://openalex.org/W1988738265"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"paper":[2],"presents":[3],"an":[4],"implementation":[5],"of":[6,40,46],"the":[7,13],"Gilbert-Johnson-Keerthi":[8],"algorithm":[9,29],"for":[10,35],"comput":[11],"ing":[12],"distance":[14],"between":[15],"convex":[16],"objects,":[17],"that":[18],"has":[19],"improved":[20],"performance,":[21],"robustness,":[22],"and":[23,53,55],"versatility":[24],"over":[25],"earlier":[26],"implementations.":[27],"The":[28],"presented":[30],"here":[31],"is":[32],"especially":[33],"suitable":[34],"use":[36],"in":[37],"collision":[38],"detection":[39],"objects":[41],"modeled":[42],"using":[43],"various":[44],"types":[45],"geometric":[47],"primitives,":[48],"such":[49],"as":[50],"boxes,":[51],"cones,":[52],"spheres,":[54],"their":[56],"images":[57],"under":[58],"affine":[59],"transformation.":[60]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":12},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":10}],"updated_date":"2026-06-04T09:04:59.091469","created_date":"2025-10-10T00:00:00"}