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 publicationSpringer Tracts in Advanced Robotics
Pages351-365
Number of pages15
Volume57
DOIs
StatePublished - 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)16107438
ISSN (Electronic)1610742X

Other

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

Fingerprint

Data structures

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

Cite this

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

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 proceedingConference contribution

Agarwal, PK, Efrat, A, Sharathkumar, R & Yu, H 2010, On approximate geodesic-distance queries amid deforming point clouds. in Springer Tracts in Advanced Robotics. vol. 57, Springer Tracts in Advanced Robotics, vol. 57, pp. 351-365, 8th International Workshop on the Algorithmic Foundations of Robotics, WAFR, Guanajuato, Mexico, 12/7/08. https://doi.org/10.1007/978-3-642-00312-7_22
Agarwal PK, Efrat A, Sharathkumar R, Yu H. On approximate geodesic-distance queries amid deforming point clouds. In Springer Tracts in Advanced Robotics. Vol. 57. 2010. p. 351-365. (Springer Tracts in Advanced Robotics). https://doi.org/10.1007/978-3-642-00312-7_22
Agarwal, Pankaj K. ; Efrat, Alon ; Sharathkumar, R. ; Yu, Hai. / On approximate geodesic-distance queries amid deforming point clouds. Springer Tracts in Advanced Robotics. Vol. 57 2010. pp. 351-365 (Springer Tracts in Advanced Robotics).
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