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 language | English (US) |
|---|---|
| Title of host publication | Springer Tracts in Advanced Robotics |
| Pages | 351-365 |
| Number of pages | 15 |
| Volume | 57 |
| DOIs | |
| State | Published - 2010 |
| Event | 8th International Workshop on the Algorithmic Foundations of Robotics, WAFR - Guanajuato, Mexico Duration: Dec 7 2008 → Dec 9 2008 |
Publication series
| Name | Springer Tracts in Advanced Robotics |
|---|---|
| Volume | 57 |
| ISSN (Print) | 16107438 |
| ISSN (Electronic) | 1610742X |
Other
| Other | 8th International Workshop on the Algorithmic Foundations of Robotics, WAFR |
|---|---|
| Country | Mexico |
| City | Guanajuato |
| Period | 12/7/08 → 12/9/08 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Artificial Intelligence
Cite this
On approximate geodesic-distance queries amid deforming point clouds. / Agarwal, Pankaj K.; Efrat, Alon; Sharathkumar, R.; Yu, Hai.
Springer Tracts in Advanced Robotics. Vol. 57 2010. p. 351-365 (Springer Tracts in Advanced Robotics; Vol. 57).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - On approximate geodesic-distance queries amid deforming point clouds
AU - Agarwal, Pankaj K.
AU - Efrat, Alon
AU - Sharathkumar, R.
AU - Yu, Hai
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
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UR - http://www.scopus.com/inward/citedby.url?scp=77949799210&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-00312-7_22
DO - 10.1007/978-3-642-00312-7_22
M3 - Conference contribution
AN - SCOPUS:77949799210
SN - 9783642003110
VL - 57
T3 - Springer Tracts in Advanced Robotics
SP - 351
EP - 365
BT - Springer Tracts in Advanced Robotics
ER -