Hierarchical Clustering of 3D Objects and its Application to Minimum Distance Computation

Abstract- 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. Index Terms- Hierarchical clustering. World modeling. I