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Proceedings of CAD'15, 2015, 389-394
Interactive Collision Detection for Engineering Plants based on Large-Scale Point-Clouds

Takeru Niwa, Hiroshi Masuda, The University of Electro-Communications

Abstract. The state-of-the-art laser scanners make it possible to capture dense point-clouds of engineering plants. Dense point-clouds are faithful as-is 3D representation of engineering plants. They can be used for simulating whether equipment can be safely moved without collisions when engineering plants are renovated. However, it is not easy to realize real-time collision detection for large-scale point-cloud, because point-clouds of an engineering plant often contain hundreds of millions of points. In addition, many places in an engineering plant cannot be measured because of occlusion. Although points are absent in occluded regions, such regions may not be free space. Conventional point-based collision detection methods cannot handle very large point-clouds that contain missing points. In this paper, we consider real-time point-based collision detection that can solve these problems. We suppose that closed 3D models are placed in large-scale point-clouds. For efficiently handling large-scale point-clouds, we convert point-clouds into angle-space depth maps, which maintain the depth of each point from a laser scanner. Collisions are detected on depth-maps.

Keywords. Point clouds, Collision detection, Geometry processing, Point processing, Computer-aided maintenance

DOI: 10.14733/cadconfP.2015.389-394