242-535 ADA: 14. Intro to CG1 Objective o give a non-technical overview of Computational geometry, concentrating on its main application areas Algorithm.
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242-535 ADA: 14. Intro to CG
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• Objectiveo give a non-technical overview of
Computational geometry, concentrating on its main application areas
Algorithm Design and Analysis
(ADA)242-535, Semester 1 2014-2015
14. Introduction to Computational
Geometry
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1. What is Computational Geometry?2. Uses in Computer Graphics3. Uses in Robotics4. Uses in GIS5. Uses in CAD/CAM6. A Textbook
Overview
1. What is Computational
Geometry?
The systematic study of algorithms and data structures for geometric objects, with a focus on exact algorithms that are asymptotically fast.
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CG in Context
TheoreticalComputer
Science
Applied Computer Science
AppliedMath
Geometry
ComputationalGeometry
Efficient Geometric Algorithms
Design Analyze
Apply
2. Uses in Computer Graphics
· Intersect geometric primitives (lines, polygons, polyhedra, etc.)
· Determine primitives lying in a region.
· Hidden surface removal – determine the visible part of a 3D scene while discard the occluded part from a view point.
· Deal with moving objects and detect collisions.
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• Is point q inside simple polygon P?
Point in Polygon Testing
P n-gon
q
Naïve: O(n) per test
CG: O(log n)
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• Given n line segments in the plane, determine:o Does some pair intersect? (DETECT)o Compute all points of intersection (REPORT)
Segment Intersection
Naïve: O(n2)
CG: O(n log n) detect, O(k+n log n) report
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• Find “smallest” (tightest fitting) pair of bounding boxes
• Motivation: o Best outer approximationo Bounding volume hierarchies
The 2-Box Cover Problem
Triangulation of Polygons
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Collision Detection
3. Uses in Robotics
· Motion planning
· Grasping
· Parts orienting
· Optimal placement
ProximityClosest coffee shop in PSU?
Voronoi diagram
Delaunay triangulation
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• A Voronoi diagram is a way of dividing space into smaller regions.
• A set of points (called seeds, sites, or "coffee shops") is specified beforehand and for each seed there will be a corresponding region consisting of all points closer to that seed than to any other.
• The regions are called Voronoi cells.
• Closely related to Delaunay triangulation
A Voronoi Diagram
Voronoi Diagrams in Nature
Dragonfly wingHoneycomb
Constrained soap bubbles
Giraffe pigmentation
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• A Delaunay triangulation for a set points results in a series of triangles connecting those points.
• A circle drawn through the three points in a triangle will contain no other points.
Delaunay Triangulation
Delaunaytriangulation
Path Planning
Robot
How can a robot find a short route to the destination that avoids all obstacles?
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Mobile Robotic GuardWatchman Route Problem
Determine the smallest number of cameras needed to see all of a given area.
5 cameras are enough to see everywhere (what about 4 cameras? 3?)
How Many Cameras?
viewable areafor this camera
4. Uses in GISStorage of geographical data (contours of countries, height of mountains, course of rivers, population, roads, electricity lines, etc.)
· Large amount of data – requiring efficient algorithms.
· Geographic data storage (e.g., map of roads for car positioning or computer display).
· Interpolation between nearby sample data points
· Overlay of multiple maps.
5. Uses in CAD/CAM
· Intersection, union, and decomposition of objects.
· Testing on product specifications.
· Design for assembly – modeling and simulation of assembly.
· Testing design for feasibility.
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Bounding Volume Hierarchy
BV-tree: Level 0
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BV-tree: Level 1
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BV-tree: Level 2
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BV-tree: Level 5
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BV-tree: Level 8
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• Computational Geometry in Co Joseph O’Rourke,
Cambridge University Press, 2nd ed.,1998
5. A Textbook
http://cs.smith.edu/~orourke/books/compgeom.html
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