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Gershon Elber

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2 papers

1 author row

ICRA Conference 2006 Conference Paper

Efficient Continuous Collision Detection for Bounding Boxes under Rational Motion

Dan Albocher
Uzi Sarel
Yi-King Choi
Gershon Elber
Wenping Wang

This paper presents a simple yet precise and efficient algorithm for collision prediction of two oriented bounding boxes under univariate (piecewise) rational motion. We present an analytic solution to the problem of finding the time of collision and the feature involved, or declaring that no collision should occur. Our solution can be applied to boxes of any size, under arbitrary rational rigid motion. The algorithm is based on the efficient examination of the Minkowski sum (MS) of the two boxes, using a spherical Gauss map dual representation, and a precise extraction of the collision time, if any, as a solution to a set of rational equations that are automatically derived

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ICRA Conference 2003 Conference Paper

A comparison of Gaussian and mean curvatures estimation methods on triangular meshes

Tatiana Surazhsky
Evgeni Magid
Octavian Soldea
Gershon Elber
Ehud Rivlin

Estimating intrinsic geometric properties of a surface from a polygonal mesh obtained from range data is an important stage of numerous algorithms in computer and robot vision, computer graphics, geometric modeling, industrial and biomedical engineering. This work considers different computational schemes for local estimation of intrinsic curvature geometric properties. Five different algorithms and their modifications were tested on triangular meshes that represent tessellations of synthetic geometric models. The results were compared with the analytically computed values of the Gaussian and mean curvatures of the non-uniform rational B-spline (NURBs) surfaces, these meshes originated from. This work manifests the best algorithms suited for that indeed different algorithms should be employed to compute the Gaussian and mean curvatures.

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