Construction of Bounding Volume Hierarchies for Triangle Meshes with Mixed Face Sizes
Paper in proceeding, 2020

We consider the problem of creating tighter-fitting bounding volumes (more specifically rectangular swept spheres) when constructing bounding volume hierarchies (BVHs) for complex 3D geometries given in the form of unstructured triangle meshes/soups with the aim of speeding up our IPS Path Planner for rigid bodies, where the triangles often have very different sizes. Currently, the underlying collision and distance computation module (IPS CDC) does not take into account the sizes of the triangles when it constructs BVHs using a top-down strategy. To split triangles in a BVH node into two BVH nodes, IPS CDC has to compute both the split axis and the split position. In this work, we use the principal axes of the tensor of inertia as the potential split axes and the center of mass as the split position, where the computations of both the tensor of inertia and the center of mass require knowledge of the areas of the triangles. We show that our method improves performance (up to 20 % faster) of our IPS Path Planner when it is used to plan collision-free disassembly paths for three different test cases taken from manufacturing industries.

mesh generation

manufacturing industries

collision avoidance

computer graphics

computational geometry

trees (mathematics)


Yi Li

Fraunhofer-Chalmers Centre

Evan Shellshear

Fraunhofer-Chalmers Centre

Robert Bohlin

Fraunhofer-Chalmers Centre

Johan Carlson

Fraunhofer-Chalmers Centre

Proceedings - IEEE International Conference on Robotics and Automation

10504729 (ISSN)

978-1-7281-7395-5 (ISBN)

2020 IEEE International Conference on Robotics and Automation (ICRA)
Paris, France,

Areas of Advance


Subject Categories


Control Engineering

Computer Science



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