{"id":"https://openalex.org/W4254540948","doi":"https://doi.org/10.1145/1276377.1276396","title":"Continuous collision detection for articulated models using Taylor models and temporal culling","display_name":"Continuous collision detection for articulated models using Taylor models and temporal culling","publication_year":2007,"publication_date":"2007-07-29","ids":{"openalex":"https://openalex.org/W4254540948","doi":"https://doi.org/10.1145/1276377.1276396"},"language":"en","primary_location":{"id":"doi:10.1145/1276377.1276396","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1276377.1276396","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/inria-00390313/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100390736","display_name":"Xinyu Zhang","orcid":"https://orcid.org/0009-0000-8398-0152"},"institutions":[{"id":"https://openalex.org/I138925566","display_name":"Ewha Womans University","ror":"https://ror.org/053fp5c05","country_code":"KR","type":"education","lineage":["https://openalex.org/I138925566"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Xinyu Zhang","raw_affiliation_strings":["Ewha Womans University, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ewha Womans University, Korea","institution_ids":["https://openalex.org/I138925566"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069484428","display_name":"St\u00e9phane Redon","orcid":"https://orcid.org/0000-0002-2618-8975"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Stephane Redon","raw_affiliation_strings":["INRIA Rhone-Alpes, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Rhone-Alpes, France","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088430334","display_name":"Minkyoung Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I138925566","display_name":"Ewha Womans University","ror":"https://ror.org/053fp5c05","country_code":"KR","type":"education","lineage":["https://openalex.org/I138925566"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Minkyoung Lee","raw_affiliation_strings":["Ewha Womans University, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ewha Womans University, Korea","institution_ids":["https://openalex.org/I138925566"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100387388","display_name":"Young J. Kim","orcid":"https://orcid.org/0000-0003-2159-4832"},"institutions":[{"id":"https://openalex.org/I138925566","display_name":"Ewha Womans University","ror":"https://ror.org/053fp5c05","country_code":"KR","type":"education","lineage":["https://openalex.org/I138925566"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young J. Kim","raw_affiliation_strings":["Ewha Womans University, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ewha Womans University, Korea","institution_ids":["https://openalex.org/I138925566"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.2518,"has_fulltext":true,"cited_by_count":68,"citation_normalized_percentile":{"value":0.96782351,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"26","issue":"3","first_page":"15","last_page":"15"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9979000091552734,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9966999888420105,"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":0.8338561654090881},{"id":"https://openalex.org/keywords/pentium","display_name":"Pentium","score":0.7050839066505432},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6772061586380005},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5717997550964355},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5168840885162354},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.5007121562957764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43159541487693787},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4068693518638611},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4000164866447449},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.13666990399360657}],"concepts":[{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.8338561654090881},{"id":"https://openalex.org/C46268123","wikidata":"https://www.wikidata.org/wiki/Q214314","display_name":"Pentium","level":2,"score":0.7050839066505432},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6772061586380005},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5717997550964355},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5168840885162354},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.5007121562957764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43159541487693787},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4068693518638611},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4000164866447449},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.13666990399360657},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/1276377.1276396","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1276377.1276396","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},{"id":"pmh:oai:HAL:inria-00390313v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00390313","pdf_url":"https://inria.hal.science/inria-00390313/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ACM Transactions on Graphics, 2007, 26 (3), pp.Article 15. &#x27E8;10.1145/1276377.1276396&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:inria-00390313v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00390313","pdf_url":"https://inria.hal.science/inria-00390313/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ACM Transactions on Graphics, 2007, 26 (3), pp.Article 15. &#x27E8;10.1145/1276377.1276396&#x27E9;","raw_type":"Journal articles"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320324891","display_name":"Iran Telecommunication Research Center","ror":"https://ror.org/01a3g2z22"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4254540948.pdf","grobid_xml":"https://content.openalex.org/works/W4254540948.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W143062967","https://openalex.org/W1563403345","https://openalex.org/W1580809199","https://openalex.org/W1789809724","https://openalex.org/W1893251393","https://openalex.org/W1968712419","https://openalex.org/W1974451141","https://openalex.org/W1995009518","https://openalex.org/W1999250663","https://openalex.org/W2025939589","https://openalex.org/W2065283065","https://openalex.org/W2079872371","https://openalex.org/W2096143679","https://openalex.org/W2120379056","https://openalex.org/W2128748736","https://openalex.org/W2131341093","https://openalex.org/W2623660146","https://openalex.org/W4230417176","https://openalex.org/W6634544175","https://openalex.org/W6634668182","https://openalex.org/W6665960101"],"related_works":["https://openalex.org/W2383278621","https://openalex.org/W2624451073","https://openalex.org/W2005984284","https://openalex.org/W2687972263","https://openalex.org/W2029249305","https://openalex.org/W2511137960","https://openalex.org/W2144792299","https://openalex.org/W2159704977","https://openalex.org/W3214088465","https://openalex.org/W2964174634"],"abstract_inverted_index":{"We":[0,103],"present":[1],"a":[2,21,45,52,153],"fast":[3],"continuous":[4,53,73],"collision":[5,99],"detection":[6,132],"(CCD)":[7],"algorithm":[8,19,50,88,108,126],"for":[9,61,66,82,133],"articulated":[10,33,47,70,134],"models":[11,14,29,34,77,135],"using":[12],"Taylor":[13],"and":[15,41,58,64,75,81,109,121,140],"temporal":[16],"culling.":[17],"Our":[18,125],"is":[20,160],"generalization":[22],"of":[23,44,93,137,142,144,166,169,174],"conservative":[24],"advancement":[25],"(CA)":[26],"from":[27],"convex":[28],"[Mirtich":[30],"1996]":[31],"to":[32,112],"with":[35,55],"non-convex":[36],"links.":[37],"Given":[38],"the":[39,69,79,90,164],"initial":[40],"final":[42],"configurations":[43],"moving":[46],"model,":[48],"our":[49,87,106],"creates":[51],"motion":[54,74,123],"constant":[56],"translational":[57],"rotational":[59],"velocities":[60],"each":[62],"link,":[63],"checks":[65],"interferences":[67],"between":[68],"model":[71],"under":[72],"other":[76],"in":[78,146],"environment":[80],"self-collisions.":[83],"If":[84],"collisions":[85],"occur,":[86],"reports":[89],"first":[91],"time":[92],"contact":[94],"(TOC)":[95],"as":[96,98],"well":[97],"witness":[100],"features":[101],".":[102],"have":[104],"implemented":[105],"CCD":[107],"applied":[110],"it":[111],"several":[113],"challenging":[114],"scenarios":[115],"including":[116,130],"locomotion":[117],"generation,":[118],"articulated-body":[119],"dynamics":[120],"character":[122],"planning.":[124],"can":[127],"perform":[128],"CCDs":[129],"self-collision":[131],"consisting":[136],"many":[138],"links":[139],"tens":[141],"thousands":[143],"triangles":[145],"1.22":[147],"ms":[148],"on":[149,152,163],"average":[150],"running":[151],"3.6":[154],"GHz":[155],"Pentium":[156],"4":[157],"PC.":[158],"This":[159],"an":[161,172],"improvement":[162],"performance":[165],"prior":[167],"algorithms":[168],"more":[170],"than":[171],"order":[173],"magnitude.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
