Voxelized Minkowski sum computation on the GPU with robust culling

We present a new approach for computing the voxelized Minkowski sum (excluding any enclosed voids) of two polyhedral objects using programmable Graphics Processing Units (GPUs). We first cull out surface primitives that will not contribute to the final boundary of the Minkowski sum, analyzing and adaptively bounding the rounding errors of the culling algorithm to solve the floating point error problem. The remaining surface primitives are then rendered to depth textures along six orthogonal directions to generate an initial solid voxelization of the Minkowski sum. Finally we employ fast flood fill to find all the outside voxels. We generate both solid and surface voxelizations of Minkowski sums without enclosed voids and support high volumetric resolution of 1024310243 with low video memory cost. The whole algorithm runs on the GPU and is at least one order of magnitude faster than existing boundary representation (B-rep) based algorithms. It avoids the large number of 3D Boolean operations needed in most existing algorithms and is easy to implement. The voxelized Minkowski sums can be used in a variety of applications including motion planning and penetration depth computation.

► At least one order of magnitude faster than existing B-rep based algorithms. ► Avoids complex 3D computations of convex-decomposition and convolution approaches. ► Supports high resolution of 10243 with low video memory usage. ► Analyzes and adaptively bounds floating point rounding errors for robust culling.