Zhang, Z;
Xin, Y;
Liu, B;
Li, WXY;
Lee, KH;
Ng, CF;
Stoyanov, D;
... Kwok, KW; + view all
(2016)
FPGA-based high-performance collision detection: An enabling technique for image-guided robotic surgery.
Frontiers Robotics AI
, 3
(51)
10.3389/frobt.2016.00051.
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Abstract
Collision detection, which refers to the computational problem of finding the relative placement or configuration of two or more objects, is an essential component of many applications in computer graphics and robotics. In image-guided robotic surgery, real-time collision detection is critical for preserving healthy anatomical structures during the surgical procedure. However, the computational complexity of the problem usually results in algorithms that operate at low speed. In this paper, we present a fast and accurate algorithm for collision detection between Oriented-Bounding-Boxes (OBBs) that is suitable for real-time implementation. Our proposed Sweep and Prune algorithm can perform a preliminary filtering to reduce the number of objects that need to be tested by the classical Separating Axis Test algorithm, while the OBB pairs of interest are preserved. These OBB pairs are re-checked by the Separating Axis Test algorithm to obtain accurate overlapping status between them. To accelerate the execution, our Sweep and Prune algorithm is tailor-made for the proposed method. Meanwhile, a high-performance scalable hardware architecture is proposed by analyzing the intrinsic parallelism of our algorithm and is implemented on FPGA platform. Results show that our hardware design on the FPGA platform can achieve around 8× higher running speed than the software design on a CPU platform. As a result, the proposed algorithm can achieve a collision frame rate of 1 kHz and fulfill the requirement for the medical surgery scenario of Robot-Assisted Laparoscopy.
| Type: | Article |
|---|---|
| Title: | FPGA-based high-performance collision detection: An enabling technique for image-guided robotic surgery |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.3389/frobt.2016.00051 |
| Publisher version: | https://doi.org/10.3389/frobt.2016.00051 |
| Language: | English |
| Additional information: | This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. See here for more information: http://creativecommons.org/licenses/by/4.0/ |
| Keywords: | OBB, collision detection, Sweep and Prune, FPGA, CPU, robotic-assisted laparoscopy, computer vision |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10070422 |
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