COLLISION-FREE VIRTUAL NAVIGATION USING VIEWPOINT SPECIFIC DEPTH INFORMATION
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概要
- 論文の詳細を見る
Computer animation and virtual reality applications continue to gain popularity and be the focus of increasingly extensive research. However the shortcomings of a virtual environment are numerous and in order to create realistic scenes one must address a lot of practical issues. This paper presents a realistic navigation algorithm for collision free agent movement. In the scope of this paper, an agent is considered to be an autonomous, computer assisted or computer controlled entity, which unlike general collision detection and navigation algorithms relies on purely local geometric information of its surroundings to find a path towards a goal position. The approach taken is using depth information directly from the agent's view rendering pipeline to create a repelling force field around obstacles. More specifically the z-buffer of the agent's view is used to estimate a vector field around the obstacles that lie in the agent's path. By making use of the z-buffer the navigation strategy implemented is based solely on information the agent can acquire from its sensors at his present position. This makes the algorithm suitable for autonomous agents in either static or dynamic, unstructured environments, where no a priori information on the topology of the virtual world is known. Furthermore, the algorithm is simple and fast and could be easily extended to real world robots equipped with depth lenses.
- 社団法人電子情報通信学会の論文
- 2002-01-10
著者
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TAKAHASHI Hiroki
Graduate School of Information Science, Nara Institute of Science and Technology
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NAKAJIMA Masayuki
Graduate School of Information Science & Engineering, Tokyo Institute of Technology
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Takahashi H
Department Of Human Communication The University Of Electro-communications
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Piperakis Romanos
Graduate School of Information Science and Engineering Tokyo Institute of Technology
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Takahashi H
Tokyo Inst. Technol. Jpn
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Nakajima Masayuki
Graduate School Of Information And Engineering Tokyo Institute Of Technology
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Takahashi Hiroki
Graduate School Of Human And Environmental Studies Kyoto University
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Takahashi Hiroki
Graduate School of Biomedical Engineering, Tohoku University, Sendai 980-8579, Japan
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Piperakis Romanos
Graduate School of Information Science & Engineering Tokyo Institute of Technology
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