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15
Arrangements and Their Applications
 Handbook of Computational Geometry
, 1998
"... The arrangement of a finite collection of geometric objects is the decomposition of the space into connected cells induced by them. We survey combinatorial and algorithmic properties of arrangements of arcs in the plane and of surface patches in higher dimensions. We present many applications of arr ..."
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Cited by 78 (20 self)
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The arrangement of a finite collection of geometric objects is the decomposition of the space into connected cells induced by them. We survey combinatorial and algorithmic properties of arrangements of arcs in the plane and of surface patches in higher dimensions. We present many applications of arrangements to problems in motion planning, visualization, range searching, molecular modeling, and geometric optimization. Some results involving planar arrangements of arcs have been presented in a companion chapter in this book, and are extended in this chapter to higher dimensions. Work by P.A. was supported by Army Research Office MURI grant DAAH049610013, by a Sloan fellowship, by an NYI award, and by a grant from the U.S.Israeli Binational Science Foundation. Work by M.S. was supported by NSF Grants CCR9122103 and CCR9311127, by a MaxPlanck Research Award, and by grants from the U.S.Israeli Binational Science Foundation, the Israel Science Fund administered by the Israeli Ac...
Strategies for Polyhedral Surface Decomposition: An Experimental Study
, 1995
"... This paper addresses the problem of decomposing a complex polyhedral surface into a small number of "convex" patches (ie, boundary parts of convex polyhedra). The corresponding optimization problem is shown to be NPcomplete and an experimental search for good heuristics is undertaken. 1 I ..."
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Cited by 50 (5 self)
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This paper addresses the problem of decomposing a complex polyhedral surface into a small number of "convex" patches (ie, boundary parts of convex polyhedra). The corresponding optimization problem is shown to be NPcomplete and an experimental search for good heuristics is undertaken. 1 Introduction Convex shapes are easiest to represent, manipulate, and render. Even though they form the building blocks of bottomup solid modelers, it is more often the case that the convex structure of a geometric shape is lost in its representation. We are then presented, not with the solidmodeling problem of putting together primitive convex objects, but with the reverse problem of extracting convexity out of a complex shape. The classical example is that of cutting up a 3polyhedron into convex pieces. This is often a useful, sometimes a required, preprocessing step in graphics, manufacturing, and mesh generation. The problem has been exhaustively researched in the last few years [2][18]. Despi...
Obstacle Collision Detection Using Best Ellipsoid Fit
, 1997
"... This paper describes a method for estimating the distance between a robot and its surrounding environment using best ellipsoid fit. The method consists of the following two stages. First we approximate the detailed geometry of the robot and its environment by minimumvolume enclosing ellipsoids. Th ..."
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Cited by 27 (2 self)
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This paper describes a method for estimating the distance between a robot and its surrounding environment using best ellipsoid fit. The method consists of the following two stages. First we approximate the detailed geometry of the robot and its environment by minimumvolume enclosing ellipsoids. The computation of these ellipsoids is a convex optimization problem, for which efficient algorithms are known. Then we compute a conservative distance estimate using an important but little known formula for the distance of a point from and ndimensional ellipse. The computation of the distance estimate (and its gradient vector) is shown to be an eigenvalue problem, whose solution can be rapidly found using standard techniques. We also present an incremental version of the distance computation, which takes place along a continuous trajectory taken by the robot. We have implemented the proposed approach and present some preliminary results.
On translational motion planning of a convex polyhedron in 3space
 SIAM Journal on Computing
, 1997
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Lines and free line segments tangent to arbitrary threedimensional convex polyhedra
 SIAM Journal on Computing
, 2006
"... SUE WHITESIDES∗ ∗ Abstract. Motivated by visibility problems in three dimensions, we investigate the complexity and construction of the set of tangent lines in a scene of threedimensional polyhedra. We prove that the set of lines tangent to four possibly intersecting convex polyhedra in R 3 with a ..."
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Cited by 24 (14 self)
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SUE WHITESIDES∗ ∗ Abstract. Motivated by visibility problems in three dimensions, we investigate the complexity and construction of the set of tangent lines in a scene of threedimensional polyhedra. We prove that the set of lines tangent to four possibly intersecting convex polyhedra in R 3 with a total of n edges consists of Θ(n 2) connected components in the worst case. In the generic case, each connected component is a single line, but our result still holds for arbitrarily degenerate scenes. More generally, we show that a set of k possibly intersecting convex polyhedra with a total of n edges admits, in the worst case, Θ(n 2 k 2) connected components of maximal free line segments tangent to at least four polytopes. Furthermore, these bounds also hold for possibly occluded lines rather than maximal free line segments. Finally, we present an O(n 2 k 2 log n) time and O(nk 2) space algorithm that, given a scene of k possibly intersecting convex polyhedra, computes all the minimal free line segments that are tangent to any four of the polytopes and are isolated transversals to the set of edges they intersect; in particular, we compute at least one line segment per connected component of tangent lines. Key words. computational geometry, 3D visibility, visibility complex, visual events
SelfCustomized BSP Trees for Collision Detection
, 2000
"... The ability to perform efficient collision detection is essential in virtual reality environments and their applications, such as walkthroughs. In this paper we reexplore a classical structure used for collision detection  the binary space partitioning tree. Unlike the common approach, which a ..."
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Cited by 15 (1 self)
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The ability to perform efficient collision detection is essential in virtual reality environments and their applications, such as walkthroughs. In this paper we reexplore a classical structure used for collision detection  the binary space partitioning tree. Unlike the common approach, which attributes equal likelihood to each possible query, we assume events that happened in the past are more likely to happen again in the future. This leads us to the definition of selfcustomized data structures. We report encouraging results obtained while experimenting with this concept in the context of selfcustomized bsp trees. Keywords: Collision detection, binary space partitioning, selfcustomization. 1 Introduction Virtual reality refers to the use of computer graphics to simulate physical worlds or to generate synthetic ones, where a user is to feel immersed in the environment to the extent that the user feels as if "objects" seen are really there. For example, "objects" should m...
Guarding a terrain by two watchtowers
 In Proc. 21st Annu. ACM Sympos. Computational Geometry
, 2005
"... Given a polyhedral terrain T with n vertices, the twowatchtower problem for T asks to find two vertical segments, called watchtowers, of smallest common height, whose bottom endpoints (bases) lie on T, and whose top endpoints guard T, in the sense that each point on T is visible from at least one o ..."
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Cited by 10 (1 self)
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Given a polyhedral terrain T with n vertices, the twowatchtower problem for T asks to find two vertical segments, called watchtowers, of smallest common height, whose bottom endpoints (bases) lie on T, and whose top endpoints guard T, in the sense that each point on T is visible from at least one of them. There are three versions of the problem, discrete, semidiscrete, and continuous, depending on whether two, one, or none of the two bases are restricted to be among the vertices of T, respectively. In this paper we present the following results for the twowatchtower problem in R 2 and R 3: (1) We show that the discrete twowatchtowers problem in R 2 can be solved in O(n 2 log 4 n) time, significantly improving previous solutions. The algorithm works, without increasing its asymptotic running time, for the semicontinuous version, where one of the towers is allowed to be placed anywhere on T. (2) We show that the continuous twowatchtower problem in R 2 can be solved in O(n 3 α(n)log 3 n) time, again significantly improving previous results. (3) Still in R 2, we show that the continuous version of the problem of guarding a finite set P ⊂ T of m points by two watchtowers of smallest common height can be solved in O(mnlog 4 n) time.
Intersection of UnitBalls and Diameter of a Point Set in R³
"... We describe an algorithm for computing the intersection of n balls of equal radius in R³ which runs in time O(n lg² n). The algorithm can be parallelized so that the comparisons that involve the radius of the balls are performed in O(lg³ n) batches. Using parametric search, these algorithms are used ..."
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Cited by 8 (0 self)
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We describe an algorithm for computing the intersection of n balls of equal radius in R³ which runs in time O(n lg² n). The algorithm can be parallelized so that the comparisons that involve the radius of the balls are performed in O(lg³ n) batches. Using parametric search, these algorithms are used to obtain an algorithm for computing the diameter of a set of n points in R³ (the maximum distance between any pair) which runs in time O(n lg^5 n). The algorithms are deterministic and elementary; this is in contrast with the running time O(n log n) in both cases that can be achieved using randomization [3], and the running times O(n lg n) and O(n lg³ n) using deterministic geometric sampling [2, 1].
Clustering for Faster Network Simplex Pivots
, 2000
"... We show how to use a combination of treeclustering techniques and computational geometry to improve the time bounds for optimal pivot selection in the primal network simplex algorithm for minimumcost flow and related problems and for pivot execution in the dual network simplex algorithm, from O(m) ..."
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Cited by 7 (2 self)
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We show how to use a combination of treeclustering techniques and computational geometry to improve the time bounds for optimal pivot selection in the primal network simplex algorithm for minimumcost flow and related problems and for pivot execution in the dual network simplex algorithm, from O(m) to O (√m) per pivot. Our techniques can also speed up network simplex algorithms for generalized flow, shortest paths with negative edges, maximum flow, the assignment problem, and the transshipment problem.
Finding the maximal empty disk containing a query point
 In Proc. 28th Annual ACM Symp. Comput. Geom. (SOCG) (2012
"... Let P be a set of n points in the plane. We present an efficient algorithm for preprocessing P, so that, for a given query point q, we can quickly report the largest disk that contains q but its interior is disjoint from P. The storage required by the data structure is O(nlogn), the preprocessing co ..."
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Cited by 2 (2 self)
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Let P be a set of n points in the plane. We present an efficient algorithm for preprocessing P, so that, for a given query point q, we can quickly report the largest disk that contains q but its interior is disjoint from P. The storage required by the data structure is O(nlogn), the preprocessing cost is O(nlog 2 n), and a query takes O(log 2 n) time. We also present an alternative solution with an improved query cost and with slightly worse storage and preprocessing requirements. 1