CAB: Fast Update of aBB Trees for Coil ision Detection Between Articulated Bodies

Abstract

Abstract We present a new, fast approach for updating oriented bounding box hierarchies for articulated humanoid models, using a bottom-up approach. The algorithm approximates existing techniques by assuming a major body axis. Existence of a major axis allows merging of bounding boxes in a hierarchy approximately but with sufficient accuracy. For scenarios with close proximity, a speed-up by a factor 2 on average is achieved compared to existing techniques.