Octree of Adaptive Subdivision and Encoding Algorithm in Virtual Operation Training System

摘要

Pertinent to the detection on the collision between irregular and unevenly distributed objects in the robot virtual operation training system, one new octree structure is put forward in the paper. This octree structure occupies a small storage space, which both guarantees simultaneity and possesses a good topological structure. In this octree structure, the cell size is set to be three times of the average triangle of the axis aligned bounding box (AABB). Compared with the radius of the average triangle bounding sphere adopted to set the cell size in the previous literatures, the cell size in the paper is reasonable and valid. Moreover, it is quicker. The simulation data in the experiment detect the simultaneity and validity of the method.