Publication

Solving geometric constraints by iterative projections and backprojections

Conference Article

Conference

IEEE International Conference on Robotics and Automation (ICRA)

Edition

2004

Pages

1789-1794

Doc link

http://dx.doi.org/10.1109/ROBOT.2004.1308083

File

Download the digital copy of the doc pdf document

Abstract

Most geometric constraint problems can be reduced to give coordinates to a set of points from a subset of their pairwise distances. By exploiting this fact, this paper presents an algorithm that solves geometric constraint systems by iteratively reducing and expanding the dimension of the problem. In general, these projection/backprojection iterations permit tightening the ranges for the possible solutions but, if at a given point no progress is made, the algorithm bisects the search space and proceeds recursively for both subproblems. This branch-and-prune strategy is shown to converge to all solutions.

Categories

robots.

Scientific reference

F. Thomas. Solving geometric constraints by iterative projections and backprojections, 2004 IEEE International Conference on Robotics and Automation, 2004, New Orleans, Estats Units d'Amèrica, pp. 1789-1794, IEEE.