A comparison of two fast algorithms for computing the distance between convex polyhedra

@article{Cameron1997ACO,
  title={A comparison of two fast algorithms for computing the distance between convex polyhedra},
  author={Stephen Cameron},
  journal={IEEE Trans. Robotics Autom.},
  year={1997},
  volume={13},
  pages={915-920}
}
  • S. Cameron
  • Published 1 December 1997
  • Computer Science
  • IEEE Trans. Robotics Autom.
The problem of tracking the distance between two convex polyhedra is finding applications in many areas of robotics. The algorithm of Lin and Canny (1991) is a well-known fast solution to this problem, but by recasting the algorithms into configuration space, we show that a minor modification to the earlier algorithm of Gilbert, Johnson, and Keerthi (1988) also gives this algorithm the same expected cost. 

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