On approximate geodesic-distance queries amid deforming point clouds

Pankaj K. Agarwal, Alon Efrat, R. Sharathkumar, Hai Yu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationAlgorithmic Foundations of Robotics VIII - Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics
Pages351-365
Number of pages15
DOIs
StatePublished - Mar 29 2010
Event8th International Workshop on the Algorithmic Foundations of Robotics, WAFR - Guanajuato, Mexico
Duration: Dec 7 2008Dec 9 2008

Publication series

NameSpringer Tracts in Advanced Robotics
Volume57
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Other

Other8th International Workshop on the Algorithmic Foundations of Robotics, WAFR
CountryMexico
CityGuanajuato
Period12/7/0812/9/08

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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    Agarwal, P. K., Efrat, A., Sharathkumar, R., & Yu, H. (2010). On approximate geodesic-distance queries amid deforming point clouds. In Algorithmic Foundations of Robotics VIII - Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics (pp. 351-365). (Springer Tracts in Advanced Robotics; Vol. 57). https://doi.org/10.1007/978-3-642-00312-7_22