ConvexHull3D

Convex Hullsin 3-space : Convex Hulls in 3-space Jason C. Yang


Problem Statement : Problem Statement Given P: set of n points in 3-space Return: Convex hull of P: CH(P) Smallest polyhedron s.t. all elements of P on or in the interior of CH(P).


Algorithm : Algorithm Randomized incremental algorithm Steps: Initialize the algorithm Loop over remaining points Add pr to the convex hull of Pr-1 to transform CH(Pr-1) to CH(Pr) [for integer r1, let Pr:={p1,…,pr}] Main Idea: Incrementally insert new points into the running/intermediate Convex Hull.


Initialization : Initialization Need a CH to start with Build a tetrahedron using 4 points in P Start with two distinct points in P: p1 and p2 Walk through P to find p3 that does not lie on the line through p1 and p2 Find p4 that does not lie on the plane through p1, p2, p3 Special case: No such points exist? Compute random permutation p5,…,pn of the remaining points Need a CH to start with Build a tetrahedron using 4 points in P Start with two distinct points in P: p1 and p2 Walk through P to find p3 that does not lie on the line through p1 and p2 Find p4 that does not lie on the plane through p1, p2, p3 Special case: No such points exist? All points lie on a plane. Use planar CH algorithm! Compute random permutation p5,…,pn of the remaining points


Inserting Points into CH : Inserting Points into CH Add pr to the convex hull of Pr-1 to transform CH(Pr-1) to CH(Pr) [for integer r1, let Pr:={p1,…,pr}] Two Cases: 1) Pr is inside or on the boundary of CH(Pr-1) Trivial: CH(Pr) = CH(Pr-1) 2) Pr is outside of CH(Pr-1)


Case 2: Pr outside CH(Pr-1) : Case 2: Pr outside CH(Pr-1) Determine horizon of pr on CH(Pr-1) Closed curve of edges enclosing the visible region of pr on CH(Pr-1)


Visibility : Visibility Consider plane hf containing a facet f of CH(Pr-1) f is visible from a point if that point lies in the open half-space on the other side of hf


Rethinking the Horizon : Rethinking the Horizon Boundary of polygon obtained from projecting CH(Pr-1) onto a plane with pr as the center of projection


CH(Pr-1)  CH(Pr) : CH(Pr-1)  CH(Pr) Remove visible facets from CH(Pr-1) Found horizon: Closed curve of edges of CH(Pr-1) Form CH(Pr) by connecting each horizon edge to pr to create a new triangular facet


Algorithm So Far… : Algorithm So Far… Initialization Form tetrahedron CH(P4) from 4 points in P Compute random permutation of remaining pts. For each remaining point in P pr is point to be inserted If pr is outside CH(Pr-1) then Determine visible region Find horizon and remove visible facets Add new facets by connecting each horizon edge to pr How do we determine the visible region?


How to Find Visible Region : How to Find Visible Region Naïve approach: Test every facet with respect to pr O(n2) Trick is to work ahead: Maintain information to aid in determining visible facets.


Conflict Lists : Conflict Lists For each facet f maintain Pconflict(f) {pr+1, …, pn} containing points to be inserted that can see f For each pt, where t > r, maintain Fconflict(pt) containing facets of CH(Pr) visible from pt p and f are in conflict because they cannot coexist on the same convex hull


Conflict Graph G : Conflict Graph G Bipartite graph pts not yet inserted facets on CH(Pr) Arc for every point-facet conflict Conflict sets for a point or facet can be returned in linear time At any step of our algorithm, we know all conflicts between the remaining points and facets on the current CH


Initializing G : Initializing G Initialize G with CH(P4) in linear time Walk through P5-n to determine which facet each point can see f1 f2 p6 p5 p7


Updating G : Updating G Discard visible facets from pr by removing neighbors of pr in G Remove pr from G Determine new conflicts f1 f2 p5 p7 p6


Determining New Conflicts : Determining New Conflicts If pt can see new f, it can see edge e of f. e on horizon of pr, so e was already in and visible from pt in CH(Pr-1) If pt sees e, it saw either f1 or f2 in CH(Pr-1) Pt was in Pconflict(f1) or Pconflict(f2) in CH(Pr-1)


Determining New Conflicts : Determining New Conflicts Conflict list of f can be found by testing the points in the conflict lists of f1 and f2 incident to the horizon edge e in CH(Pr-1)


What About the Other Facets? : What About the Other Facets? Pconflict(f) for any f unaffected by pr remains unchanged


Final Algorithm : Final Algorithm Initialize CH(P4) and G For each remaining point Determine visible facets for pr by checking G Remove Fconflict(pr) from CH Find horizon and add new facets to CH and G Update G for new facets by testing the points in existing conflict lists for facets in CH(Pr-1) incident to e on the new facets Delete pr and Fconflict(pr) from G


Fine Point : Fine Point Coplanar facets pr lies in the plane of a face of CH(Pr-1) f is not visible from pr so we merge created triangles coplanar to f New facet has same conflict list as existing facet


Analysis : Analysis


Complexity : Complexity of CH for n points in 3-space is O(n) Number of edges of a convex polytope with n vertices is at most 3n-6 and the number of facets is at most 2n-4 From Euler’s formula: n – ne + nf = 2 Complexity


Complexity : Complexity Each face has at least 3 arcs Each arc incident to two faces 2ne  3nf Using Euler nf  2n-4 ne  3n-6


Expected Number of Facets Created : Expected Number of Facets Created Will show that expected number of facets created by our algorithm is at most 6n-20 Initialized with a tetrahedron = 4 facets


Expected Number of New Facets : Expected Number of New Facets Backward analysis: Remove pr from CH(Pr) Number of facets removed same as those created by pr Number of edges incident to pr in CH(Pr) is degree of pr: deg(pr, CH(Pr))


Expected Degree of pr : Expected Degree of pr Convex polytope of r vertices has at most 3r-6 edges Sum of degrees of vertices of CH(Pr) is 6r-12 Expected degree of pr bounded by (6r-12)/r


Expected Number of Created Facets : Expected Number of Created Facets 4 from initial tetrahedron Expected total number of facets created by adding p5,…,pn


Running Time : Running Time Initialization  O(nlogn) Creating and deleting facets  O(n) Expected number of facets created is O(n) Deleting pr and facets in Fconflict(pr) from G along with incident arcs  O(n) Finding new conflicts  O(?)


Total Time to Find New Conflicts : Total Time to Find New Conflicts For each edge e on horizon we spend O(card(P(e)) time where P(e) Pconfict(f1)Pconflict(f2) Total time is O(eLcard(P(e))) bounded by expected value of card(P(e)) Lemma 11.6 The expected value of ecard(P(e)), where the summation is over all horizon edges that appear at some stage of the algorithm is O(nlogn)


Randomized Insertion Order : Randomized Insertion Order


Running Time : Running Time Initialization  O(nlogn) Creating and deleting facets  O(n) Updating G  O(n) Finding new conflicts  O(nlogn) Total Running Time is O(nlogn)


Convex Hulls in Dual Space : Convex Hulls in Dual Space Upper convex hull of a set of points is essentially the lower envelope of a set of lines (similar with lower convex hull and upper envelope)


Half-Plane Intersection : Half-Plane Intersection Convex hulls and intersections of half planes are dual concepts An algorithm to compute the intersection of half-planes can be given by dualizing a convex hull algorithm. Is this true?


Half-Plane Intersection : Half-Plane Intersection Duality transform cannot handle vertical lines If we do not leave the Euclidean plane, there cannot be any general duality that turns the intersection of a set of half-planes into a convex hull. Why? Intersection of half-planes can be empty! And Convex hull is well defined. Conditions for duality: Intersection is not empty Point in the interior is known. Duality transform cannot handle vertical lines If we do not leave the Euclidean plane, there cannot be any general duality that turns the intersection of a set of half-planes into a convex hull. Why? Intersection of half-planes can be empty! And Convex hull is well defined. Conditions for duality: Intersection is not empty Point in the interior is known.


Voronoi Diagrams Revisited : Voronoi Diagrams Revisited U:=(z=x2+y2) a paraboloid p is point on plane z=0 h(p) is non-vert plane z=2pxx+2pyy-(p2x+p2y) q is any point on z=0 vdist(q',q(p)) = dist(p,q)2 h(p) and paraboloid encodes any distance p to any point on z=0


Voronoi Diagrams : Voronoi Diagrams H:={h(p) | p  P} UE(H) upper envelope of the planes in H Projection of UE(H) on plane z=0 is Voronoi diagram of P


Simplified Case : Simplified Case


Demo : Demo /mit/6.837/voronoi/voronoi


Delaunay Triangulations from CH : Delaunay Triangulations from CH


Higher Dimensional Convex Hulls : Higher Dimensional Convex Hulls Upper Bound Theorem: The worst-case combinatorial complexity of the convex hull of n points in d-dimensional space is (n d/2). Our algorithm generalizes to higher dimensions with expected running time of (nd/2)


Higher Dimensional Convex Hulls : Higher Dimensional Convex Hulls Best known output-sensitive algorithm for computing convex hulls in Rd is: O(nlogk +(nk)1-1/(d/2+1)logO(n)) where k is complexity