A generic algorithm for constructing hierarchical representations of geometric objects

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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 ... continued below

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8 p.

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Xavier, P.G. October 1, 1995.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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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.

Physical Description

8 p.

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INIS; OSTI as DE96000717

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  • IEEE international conference on robotics and automation, Minneapolis, MN (United States), 22-28 Apr 1996

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  • Other: DE96000717
  • Report No.: SAND--95-2259C
  • Report No.: CONF-960448--2
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 202429
  • Archival Resource Key: ark:/67531/metadc664081

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

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  • October 1, 1995

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  • June 29, 2015, 9:42 p.m.

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  • April 14, 2016, 7:46 p.m.

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Xavier, P.G. A generic algorithm for constructing hierarchical representations of geometric objects, article, October 1, 1995; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc664081/: accessed October 22, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.