Honeycomb Geometry: Rigid Motions on the Hexagonal Grid

Euclidean rotations in R2 are bijective and isometric maps, but they generally lose these properties when digitized in discrete spaces. In particular, the topological and geometric defects of digitized rigid motions on the square grid have been studied. This problem is related to the incompatibility between the square grid and rotations; in general, one has to accept either relatively high loss of information or non-exactness of the applied digitized rigid motion. Motivated by these facts, we study digitized rigid motions on the hexagonal grid. We establish a framework for studying digitized rigid motions in the hexagonal grid—previously proposed for the square grid and known as neighborhood motion maps. This allows us to study non-injective digitized rigid motions on the hexagonal grid and to compare the loss of information between digitized rigid motions defined on the two grids.