A generic algorithm for constructing hierarchical representations of geometric objects

Conference · Sun Oct 01 04:00:00 EDT 1995

OSTI ID:202429

Xavier, P G

For a number of years, robotics researchers have exploited hierarchical representations of geometrical objects and scenes in motion-planning, collision-avoidance, and simulation. However, few general techniques exist for automatically constructing them. We present a generic, bottom-up algorithm that uses a heuristic clustering technique to produced balanced, coherent hierarchies. Its worst-case running time is O(N{sup 2}logN), but for non-pathological cases it is O(NlogN), where N is the number of input primitives. We have completed a preliminary C++ implementation for input collections of 3D convex polygons and 3D convex polyhedra and conducted simple experiments with scenes of up to 12,000 polygons, which take only a few minutes to process. We present examples using spheres and convex hulls as hierarchy primitives.

• Research Organization: Sandia National Labs., Albuquerque, NM (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: AC04-94AL85000
• OSTI ID: 202429
• Report Number(s): SAND--95-2259C; CONF-960448--2; ON: DE96000717
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
ALGORITHMS
ARTIFICIAL INTELLIGENCE
COMPUTERIZED CONTROL SYSTEMS
NAVIGATION
PLANNING
ROBOTS
TRAJECTORIES