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
N1 - Funding Information:
Work on this paper is supported by NSF under grants CNS-05-40347, CFF-06-35000, and DEB-04-25465, by ARO grants W911NF-04-1-0278 and W911NF-07-1-0376, by an NIH grant 1P50-GM-08183-01, by a DOE grant OEG-P200A070505, and by a grant from the U.S.–Israel Binational Science Foundation. Part of the work was done while the last author was at Duke University.
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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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
T3 - Springer Tracts in Advanced Robotics
SP - 351
EP - 365
BT - Algorithmic Foundations of Robotics VIII - Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics
T2 - 8th International Workshop on the Algorithmic Foundations of Robotics, WAFR
Y2 - 7 December 2008 through 9 December 2008
ER -