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A fast procedure for computing the distance between complex objects in three space
 in Proc. IEEE Int. Conf. on Robotics and Automation
, 1987
"... AbstractAn efficient and reliable algorithm for computing the Euclidean distance between a pair of convex sets in Rm is described. Extensive numerical experience with a broad family of polytopes in R3 shows that the computational cost is approximately linear in the total number of vertices specifyi ..."
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Cited by 276 (8 self)
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AbstractAn efficient and reliable algorithm for computing the Euclidean distance between a pair of convex sets in Rm is described. Extensive numerical experience with a broad family of polytopes in R3 shows that the computational cost is approximately linear in the total number of vertices specifying the two polytopes. The algorithm has special features which makes its application in a variety of robotics problems attractive. These are discussed and an example of collision detection is given. I.
Edgebreaker: Connectivity compression for triangle meshes
 IEEE TRANSACTIONS ON VISUALIZATION AND COMPUTER GRAPHICS
, 1999
"... Edgebreaker is a simple scheme for compressing the triangle/vertex incidence graphs (sometimes called connectivity or topology) of threedimensional triangle meshes. Edgebreaker improves upon the worst case storage required by previously reported schemes, most of which require O(nlogn) bits to sto ..."
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Cited by 261 (22 self)
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Edgebreaker is a simple scheme for compressing the triangle/vertex incidence graphs (sometimes called connectivity or topology) of threedimensional triangle meshes. Edgebreaker improves upon the worst case storage required by previously reported schemes, most of which require O(nlogn) bits to store the incidence graph of a mesh of n triangles. Edgebreaker requires only 2n bits or less for simple meshes and can also support fully general meshes by using additional storage per handle and hole. Edgebreaker's compression and decompression processes perform the same traversal of the mesh from one triangle to an adjacent one. At each stage, compression produces an opcode describing the topological relation between the current triangle and the boundary of the remaining part of the mesh. Decompression uses these opcodes to reconstruct the entire incidence graph. Because Edgebreaker's compression and decompression are independent of the vertex locations, they may be combined with a variety of vertexcompressing techniques that exploit topological information about the mesh to better estimate vertex locations. Edgebreaker may be used to compress the connectivity of an entire mesh bounding a 3D polyhedron or the connectivity of a triangulated surface patch whose boundary needs not be encoded. Its superior compression capabilities, the simplicity of its implementation, and its versatility make Edgebreaker particularly suitable for the emerging 3D data exchange standards for interactive graphic applications. The paper also offers a comparative survey of the rapidly growing field of geometric compression.
Geometric Range Searching and Its Relatives
 CONTEMPORARY MATHEMATICS
"... ... process a set S of points in so that the points of S lying inside a query R region can be reported or counted quickly. Wesurvey the known techniques and data structures for range searching and describe their application to other related searching problems. ..."
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Cited by 250 (39 self)
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... process a set S of points in so that the points of S lying inside a query R region can be reported or counted quickly. Wesurvey the known techniques and data structures for range searching and describe their application to other related searching problems.
Efficient collision detection using bounding volume hierarchies of kdops
 IEEE Transactions on Visualization and Computer Graphics
, 1998
"... Abstract—Collision detection is of paramount importance for many applications in computer graphics and visualization. Typically, the input to a collision detection algorithm is a large number of geometric objects comprising an environment, together with a set of objects moving within the environment ..."
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Cited by 227 (4 self)
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Abstract—Collision detection is of paramount importance for many applications in computer graphics and visualization. Typically, the input to a collision detection algorithm is a large number of geometric objects comprising an environment, together with a set of objects moving within the environment. In addition to determining accurately the contacts that occur between pairs of objects, one needs also to do so at realtime rates. Applications such as haptic forcefeedback can require over 1,000 collision queries per second. In this paper, we develop and analyze a method, based on boundingvolume hierarchies, for efficient collision detection for objects moving within highly complex environments. Our choice of bounding volume is to use a “discrete orientation polytope” (“kdop”), a convex polytope whose facets are determined by halfspaces whose outward normals come from a small fixed set of k orientations. We compare a variety of methods for constructing hierarchies (“BVtrees”) of bounding kdops. Further, we propose algorithms for maintaining an effective BVtree of kdops for moving objects, as they rotate, and for performing fast collision detection using BVtrees of the moving objects and of the environment. Our algorithms have been implemented and tested. We provide experimental evidence showing that our approach yields substantially faster collision detection than previous methods. Index Terms—Collision detection, intersection searching, bounding volume hierarchies, discrete orientation polytopes, bounding boxes, virtual reality, virtual environments. 1
MAPS: Multiresolution Adaptive Parameterization of Surfaces
, 1998
"... We construct smooth parameterizations of irregular connectivity triangulations of arbitrary genus 2manifolds. Our algorithm uses hierarchical simplification to efficiently induce a parameterization of the original mesh over a base domain consisting of a small number of triangles. This initial param ..."
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Cited by 224 (12 self)
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We construct smooth parameterizations of irregular connectivity triangulations of arbitrary genus 2manifolds. Our algorithm uses hierarchical simplification to efficiently induce a parameterization of the original mesh over a base domain consisting of a small number of triangles. This initial parameterization is further improved through a hierarchical smoothing procedure based on Loop subdivision applied in the parameter domain. Our method supports both fully automatic and user constrained operations. In the latter, we accommodate point and edge constraints to force the align # wailee@cs.princeton.edu + wim@belllabs.com # ps@cs.caltech.edu cowsar@belllabs.com dpd@cs.princeton.edu ment of isoparameter lines with desired features. We show how to use the parameterization for fast, hierarchical subdivision connectivity remeshing with guaranteed error bounds. The remeshing algorithm constructs an adaptively subdivided mesh directly without first resorting to uniform subdivision followed by subsequent sparsification. It thus avoids the exponential cost of the latter. Our parameterizations are also useful for texture mapping and morphing applications, among others.
Multiresolution Signal Processing for Meshes
, 1999
"... We generalize basic signal processing tools such as downsampling, upsampling, and filters to irregular connectivity triangle meshes. This is accomplished through the design of a nonuniform relaxation procedure whose weights depend on the geometry and we show its superiority over existing schemes wh ..."
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Cited by 211 (12 self)
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We generalize basic signal processing tools such as downsampling, upsampling, and filters to irregular connectivity triangle meshes. This is accomplished through the design of a nonuniform relaxation procedure whose weights depend on the geometry and we show its superiority over existing schemes whose weights depend only on connectivity. This is combined with known mesh simplification methods to build subdivision and pyramid algorithms. We demonstrate the power of these algorithms through a number of application examples including smoothing, enhancement, editing, and texture mapping.
A Fast Algorithm for Incremental Distance Calculation
 In IEEE International Conference on Robotics and Automation
, 1991
"... A simple and efficient algorithm for finding the closest points between two convex polyhedra is described here. Data from numerous experiments tested on a broad set of convex polyhedra on ! 3 show that the running time is roughly constant for finding closest points when nearest points are approxim ..."
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Cited by 154 (4 self)
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A simple and efficient algorithm for finding the closest points between two convex polyhedra is described here. Data from numerous experiments tested on a broad set of convex polyhedra on ! 3 show that the running time is roughly constant for finding closest points when nearest points are approximately known and is linear in total number of vertices if no special initialization is done. This algorithm can be used for collision detection, computation of the distance between two polyhedra in threedimensional space, and other robotics problems. It forms the heart of the motion planning algorithm of [1]. 1 Introduction In this paper we present a simple method for finding and tracking the closest points on a pair of convex polyhedra. The method is generally applicable, but is especially well suited to repetitive distance calculation as the objects move in a sequence of small, discrete steps. The method works by finding and maintaining the pair of closest features (vertex, edge, or face)...
Efficient Collision Detection for Animation and Robotics
, 1993
"... We present efficient algorithms for collision detection and contact determination between geometric models, described by linear or curved boundaries, undergoing rigid motion. The heart of our collision detection algorithm is a simple and fast incremental method to compute the distance between two ..."
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Cited by 108 (19 self)
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We present efficient algorithms for collision detection and contact determination between geometric models, described by linear or curved boundaries, undergoing rigid motion. The heart of our collision detection algorithm is a simple and fast incremental method to compute the distance between two convex polyhedra. It utilizes convexity to establish some local applicability criteria for verifying the closest features. A preprocessing procedure is used to subdivide each feature's neighboring features to a constant size and thus guarantee expected constant running time for each test. The expected constant time performance is an attribute from exploiting the geometric coherence and locality. Let n be the total number of features, the expected run time is between O( p n) and O(n) ...
Determining the Separation of Preprocessed Polyhedra  A Unified Approach
, 1990
"... We show how (now familiar) hierarchical representations of (convex) polyhedra can be used to answer various separation queries efficiently (in a number of cases, optimally). Our emphasis is i) the uniform treatment of polyhedra separation problems, ii) the use of hierarchical representations of prim ..."
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Cited by 105 (5 self)
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We show how (now familiar) hierarchical representations of (convex) polyhedra can be used to answer various separation queries efficiently (in a number of cases, optimally). Our emphasis is i) the uniform treatment of polyhedra separation problems, ii) the use of hierarchical representations of primitive objects to provide implicit representations of composite or transformed objects, and iii) applications to natural problems in graphics and robotics. Among the specific results is an O(log jP j 1 log jQj) algorithm for determining the sepa ration of polyhedra P and Q (which have been individually preprocessed in at most linear time).
CLARANS: A Method for Clustering Objects for Spatial Data Mining
 IEEE Transactions on Knowledge and Data Engineering
, 2005
"... Abstract—Spatial data mining is the discovery of interesting relationships and characteristics that may exist implicitly in spatial databases. To this end, this paper has three main contributions. First, we propose a new clustering method called CLARANS, whose aim is to identify spatial structures t ..."
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Cited by 85 (0 self)
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Abstract—Spatial data mining is the discovery of interesting relationships and characteristics that may exist implicitly in spatial databases. To this end, this paper has three main contributions. First, we propose a new clustering method called CLARANS, whose aim is to identify spatial structures that may be present in the data. Experimental results indicate that, when compared with existing clustering methods, CLARANS is very efficient and effective. Second, we investigate how CLARANS can handle not only points objects, but also polygon objects efficiently. One of the methods considered, called the IRapproximation, is very efficient in clustering convex and nonconvex polygon objects. Third, building on top of CLARANS, we develop two spatial data mining algorithms that aim to discover relationships between spatial and nonspatial attributes. Both algorithms can discover knowledge that is difficult to find with existing spatial data mining algorithms. Index Terms—Spatial data mining, clustering algorithms, randomized search, computational geometry. æ 1