Title:
衝突検出システム、ロボットシステム、衝突検出方法及びプログラム
Document Type and Number:
Japanese Patent JP5708196
Kind Code:
B2
Abstract:
A collision detection system includes a processing section, a drawing section, and a depth buffer. Depth information of an object is set to the depth buffer as depth map information. The drawing section performs a first drawing process of performing a depth test, and drawing a primitive surface on a reverse side when viewed from a predetermined viewpoint out of primitive surfaces constituting a collision detection target object with reference to the depth buffer. Further, the drawing section performs a second drawing process of drawing the primitive surface on the reverse side when viewed from a predetermined viewpoint out of the primitive surfaces constituting the collision detection target object without performing the depth test. The processing section determines whether or not the collision detection target object collides with the object on the target side based on the result of the first drawing process and the second drawing process.
Inventors:
Mitsuhiro Inazumi
Application Number:
JP2011094819A
Publication Date:
April 30, 2015
Filing Date:
April 21, 2011
Export Citation:
Assignee:
Seiko Epson Corporation
International Classes:
G06T15/00; G06T19/00
Domestic Patent References:
| JP2009146368A | ||||
| JP2004303034A |
Foreign References:
| US20030112281 |
Other References:
中川真志, 外2名,”深度剥離を用いた変形物体間の衝突判定手法”,映像情報メディア学会技術報告,日本,(社)映像情報メディア学会,2009年11月19日,第33巻, 第51号,p.61-66
Attorney, Agent or Firm:
Inoue Ichi
Takekoshi Noboru
Yasushi Kuroda
Takekoshi Noboru
Yasushi Kuroda