Hierarchical structuring of scenes with MKtrees

The location of an object or parts of an object in huge environments is of fundamental importance in several research areas. The problem to locate an object or parts of an object in very complex systems (environments with large number of objects) has been studied by several authors, contributing with a large number of solutions based on different hierarchical representations of the scenes. In this research report, an implementation of a Multiresolution K dimensional tree (Multiresolution Kdtree, MKtree) and its results are presented. A MKtree represents a hierarchical subdivision of the scene objects, that guarantees a minimum space overlap between node regions in large environments. The implementation is related to ship design applications where the number and distribution of objects are considered complex. This will serve for later inclusion of methods to better approximate objects with tighter bounding volumes