A generic algorithm for constructing hierarchical representations of geometric objects
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 Lab. (SNL-NM), 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; TRN: 96:008186
- Resource Relation:
- Conference: IEEE international conference on robotics and automation, Minneapolis, MN (United States), 22-28 Apr 1996; Other Information: PBD: [1995]
- Country of Publication:
- United States
- Language:
- English
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