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Updating Octrees of Translating Objects C. Nash and N. Ahuja In robotic manipulation of environment, for example, successive configurations are closely related, and hence, so must be their octrees, despite significant changes in the octree shapes. This interdependence may be exploited to save computation in obtaining successive trees by updating current trees instead of rederiving them completely. This paper describes an algorithm for updating an octree as the represented object is linearly translated through space. This is accomplished by performing simple arithmetic on the path representations of the nodes to be translated. One advantage of the algorithm is in devising collision free and efficient trajectories of moving objects in robotics. Full Text: NA |