Visual Perception for Humanoid Robots by David Israel González Aguirre

Author:David Israel González Aguirre
Language: eng
Format: epub
ISBN: 9783319978413
Publisher: Springer International Publishing

This vertex redundancy occurs because the explicit and redundant storage of the coordinates (in the device memory either CPU or GPU) notably improves the rendering performance (shading, occlusion culling, ray tracing) and other operations necessary for visualization. In the proposed representation, each vertex is unique and its linkage has to be stored for the graph incidence (as introduced in Sect. 3.4.4). The generation of a table with unique vertex identifiers and coordinates helps to fuse close located vertices (within a small threshold radius) and identify multiple references to the same vertex. This determines whether a vertex has been listed before. This simple operation implies a comparison of vertices while loading the object models from the interchange file. This noise tolerant comparison requires many floating point operations (calculating the -norm) and the vertices have many occurrences. Thus, the process needs considerable time for computation (see details in Table 3.3).Table 3.3Transformation effects of the angle of aperture for surface subdivision. The two setups were exported with the maximal and minimal angles of aperture producing different representations. The connectivity increment in terms of edges in the high resolution robot kitchen is more than six times the size of the low resolution version. The ratio between the total amount of composed faces (denoted as C-Faces) and the triangular faces (expressed as T-Faces) is higher for the low resolution versions. This occurs because the narrow angle of aperture forbids the fusion of small partial surfaces into larger composed faces

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