Fast Point to Mesh Distance by Domain Voxelization
Geordan Gutow,Howie Choset,Geordan Gutow,Howie Choset
Computing the distance from a point to a triangle mesh is a key computational step in robotics pipelines such as registration and collision detection, with applications to path planning, SLAM, and RGB-D vision. Numerous techniques to accelerate this computation have been developed, many of which use a cheap pre-processing step to construct a hierarchical decomposition of the mesh. If the mesh is f...
