in this paper, a new online robot motion planner is developed for systematically exploring unknown environâ¬ments by intelligent mobile robots in real-time applications. the algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. it does so by online calculation of the generalized voronoi graph (gvg) of the free space, and utilizing a combination of depth-first an...

Medial Axis Transform (MAT) is one of the promising tools used for the shape recognition and it poses the advantages like space and complexity reduction, ease of processing for shape recognition. MAT representation of shapes uses object centred co-ordinate system that represents bending, elongation and thickness. But MAT of the objects is very much sensitive to small perturbations of its bounda...

The medial axis transform is valuable for shape representation as it is complete and captures part structure. However, its exact computation for arbitrary 3D models is not feasible. We introduce a novel algorithm to approximate the medial axis of a polyhedron with a dense set of medial points, with a guarantee that each medial point is within a specified tolerance from the medial axis. Given th...

We present a full pipeline for computing the medial axis transform of an arbitrary 2D shape. The instability of the medial axis transform is overcome by a pruning algorithm guided by a user-defined Hausdorff distance threshold. The stable medial axis transform is then approximated by spline curves in 3D to produce a smooth and compact representation. These spline curves are computed by minimizi...

The Concordance-based Medial Axis Transform (CMAT) presented in this paper is a multiscale medial axis (MMA) algorithm that computes medial evidence from grey-level boundary measures. It differs from previous algorithms of this type in considering the symmetry of both boundary position and strength. The resultant MMA transform is not prone to the generation of spurious medial responses exhibite...