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Hierarchical clustering of 3D objects and its application to minimum distance computation

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2 Author(s)
Sappa, A.D. ; Universitat Autonoma de Barcelona ; Garcia, M.A.

This paper presents a new iterative algorithm for automatically generating a hierarchical clustering of the objects contained in a complex 3D scene. The proposed object-oriented representation is shown to be advantageous over octrees, a traditional scene-oriented hierarchical representation, for accelerating extensively-used tasks such as minimum distance computation. Experimental results with large synthetic 3D scenes are presented.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

April 26 2004-May 1 2004