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A Benchmarking Suite for 6-DOF Real Time Collision Response Algorithms

Weller, Rene and Mainzer, David and Zachmann, Gabriel and Sagardia, Mikel and Hulin, Thomas and Preusche, Carsten (2010) A Benchmarking Suite for 6-DOF Real Time Collision Response Algorithms. The 17th ACM Symposium on Virtual Reality Software and Technology, 22-24 Nov 2010, Hong Kong. (In Press)

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Abstract

We present a benchmarking suite for rigid object collision detection and collision response schemes. The proposed benchmarking suite can evaluate both the performance as well as the quality of the collision response. The former is achieved by densely sampling the configuration space of a large number of highly detailed objects; the latter is achieved by a novel methodology that comprises a number of models for certain collision scenarios. With these models, we compare the force and torque signals both in direction and magnitude. Our device-independent approach allows objective predictions for physically-based simulations as well as 6-DOF haptic rendering scenarios. In the results, we show a comprehensive example application of our benchmarks comparing two quite different algorithms utilizing our proposed benchmarking suite. This proves empirically that our methodology can become a standard evaluation framework.

Document Type:Conference or Workshop Item (Paper)
Title:A Benchmarking Suite for 6-DOF Real Time Collision Response Algorithms
Authors:
AuthorsInstitution or Email of Authors
Weller, Renerwe@tu-clausthal.de
Mainzer, Daviddm@tu-clausthal.de
Zachmann, Gabrielzach@tu-clausthal.de
Sagardia, MikelMikel.Sagardia@dlr.de
Hulin, ThomasThomas.Hulin@dlr.de
Preusche, CarstenCarsten.Preusche@dlr.de
Date:2010
Status:In Press
Keywords:Benchmarking, Collision Detection, Haptics
Event Title:The 17th ACM Symposium on Virtual Reality Software and Technology
Event Location:Hong Kong
Event Type:international Conference
Event Dates:22-24 Nov 2010
Organizer:Danial Thalmann, George Baciu, Taku Komura
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Mikel Sagardia
Deposited On:21 Oct 2010 09:15
Last Modified:12 Dec 2013 21:02

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