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Citation link: https://doi.org/10.26092/elib/2350

Publisher DOI: https://doi.org/10.1109/IROS40897.2019.8968492
Tan-Weller-Zachmann_SIMD Optimized Bounding Volume Hierarchies for Collision Detection_2019_accepted-version_PDF-A.pdf
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SIMDop: SIMD optimized Bounding Volume Hierarchies for Collision Detection


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Tan-Weller-Zachmann_SIMD Optimized Bounding Volume Hierarchies for Collision Detection_2019_accepted-version_PDF-A.pdf2.66 MBAdobe PDFView/Open
Authors: Tan, Toni  
Weller, René 
Zachmann, Gabriel  
Abstract: 
We present a novel data structure for SIMD optimized simultaneous bounding volume hierarchy (BVH) traversals like they appear for instance in collision detection tasks. In contrast to all previous approaches, we consider both the traversal algorithm and the construction of the BVH. The main idea is to increase the branching factor of the BVH according to the available SIMD registers and parallelize the simultaneous BVH traversal using SIMD operations. This requires a novel BVH construction method because traditional BVHs for collision detection usually are simple binary trees. To do that, we present a new BVH construction method based on a clustering algorithm, Batch Neural Gas, that is able to build efficient n-ary tree structures along with SIMD optimized simultaneous BVH traversal. Our results show that our new data structure outperforms binary trees significantly.
Keywords: Computational geometry; parallel processing; pattern clustering; ray tracing method; tree data structures; trees (mathematics)
Issue Date: 2019
Project: R03 <Embodied simulation-enabled reasoning> 
Funders: DFG German Research Foundation
Journal/Edited collection: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Start page: 7256
End page: 7263
Type: Konferenzbeitrag
Conference: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Secondary publication: yes
Document version: Postprint
DOI: 10.26092/elib/2350
URN: urn:nbn:de:gbv:46-elib70294
Institution: Universität Bremen 
Faculty: Fachbereich 03: Mathematik/Informatik (FB 03) 
Appears in Collections:Forschungsdokumente

  

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