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Rapid Qualification of Mereotopological Relationships using Signed Distance Fields

René Schubotz; Christian Vogelgesang; Dmitri Rubinstein
In: Proceedings of the Second IEEE International Conference on Robotic Computing. IEEE International Conference on Robotic Computing (IRC-18), January 31 - February 2, Laguna Hills, CA, USA, IEEE Computer Society Press, 2018.


Although mereotopological relationship theories and their qualification problems have been extensively studied in R^2, the qualification of mereotopological relations in R^3 remains challenging. This is due to the limited availability of topological operators and high costs of boundary intersection tests. In this paper, a novel qualification technique for mereotopological relations in R^3 is presented. Our technique rapidly computes RCC-8 base relations using precomputed signed distance fields, and makes no assumptions with regards to complexity or representation method of the spatial entities under consideration.