On approximate geodesic-distance queries amid deforming point clouds


Journal Article

We propose data structures for answering a geodesic-distance query between two query points in a two-dimensional or three-dimensional dynamic environment, in which obstacles are deforming continuously. Each obstacle in the environment is modeled as the convex hull of a continuously deforming point cloud. The key to our approach is to avoid maintaining the convex hull of each point cloud explicitly but still able to retain sufficient geometric information to estimate geodesic distances in the free space. © 2009 Springer-Verlag.

Full Text

Duke Authors

Cited Authors

  • Agarwal, PK; Efrat, A; Sharathkumar, R; Yu, H

Published Date

  • March 29, 2010

Published In

Volume / Issue

  • 57 /

Start / End Page

  • 351 - 365

Electronic International Standard Serial Number (EISSN)

  • 1610-742X

International Standard Serial Number (ISSN)

  • 1610-7438

Digital Object Identifier (DOI)

  • 10.1007/978-3-642-00312-7_22

Citation Source

  • Scopus