16 February 1984 Septree Representations Of Moving Objects Using Hexagonal Cylindrical Decomposition
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Abstract
This paper describes decomposition of an object into upright hexagonal cylinders to represent the space occupied by the object. The representation results in a 7-order tree data structure, called septree. A hierarchical addressing system, the Generalized Balanced Ternary (GBT), is employed as an addressing mechanism for the cylinders. The objective of this paper is to present efficient computational algorithms for manipulating the tree representation as the object undergoes translation and limited rotation through space.
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Homer H Chen, Narendra Ahuja, Thomas S Hung, "Septree Representations Of Moving Objects Using Hexagonal Cylindrical Decomposition", Proc. SPIE 0449, Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls, (16 February 1984); doi: 10.1117/12.939229; https://doi.org/10.1117/12.939229
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