Computational geometry: Schedule and links

• Online access to O'Rourke Computational Geometry in C for Bowdoin students via Bowdoin library
• David Mount's computational geometry lecture notes and problem sets

Last modified: Thu May 5 15:15:28 EDT 2016

Week 1 [1/25, 1/27]	Introduction. Finding collinear points. Finding the closest pair of points. Slides: intro | closest-pair Assignment: a1 | a2 Reading: CLRS 33.4 has a nice description of the closest pair problem.
Week 2 [2/2, 2/4]	Geometric primitives (area of a triangle, collinear, left-of, segment intersection). Slides: Assignment: Unix warmup | Sean's unix tutorial| Using make | Emacs and vim | C 101 | BasicsI Reading: OR 1.3-1.5 Internet sites I found useful: slides from CG class of Mark von Kreveld, Utrecht (intro + convex hull) Thu 2/4: class cancelled
Week 3 [2/9, 2/11]	Convex hulls in 2D: Properties, algorithms (gift wrapping, Quickhull, Graham scan, Andrew's monotone chain, incremental, divide-and-conquer) and lower bound. Slides: convexhull (I) | convexhull (II) Programming assignment: CH with Graham scan (due Thu 2/18) | Using-svn-for-this-class Reading: OR 3.5, 3.6, 3.7, 3.8 Internet sites I found useful: Youtube lecture of Bob Sedgewick (Princeton) slides from CG class of Mark von Kreveld, Utrecht Notes on CH from MIT | Notes by Dan Sunday | Notes by Patrick Prosser, Glasgow U CH pplets: Brute force and quick hull | Graham scan (from Princeton) 3D convex hull: video | CGAL 3d CH
Week 4 [2/16, 2/18]	Convex hull wrap up; convex hull in 3D. Line segment intersection: Orthogonal segment intersection. General line-segment intersection and Bentley-Ottman sweep. Slides: Segment intersection orthogonal | Bentley-Ottmann | exercise Programming assignment: Orthogonal segment intersection (due Thu 2/25) | Using-svn-for-this-class Reading: Internet sites I found useful: slides from CG class of Mark von Kreveld, Utrecht notes (by Michiel Smid)
Week 5,6 [2/23, 2/25, 3/1, 3/3]	Range searching: kd-trees. Range trees. Slides: Range trees Programming assignment: Assignment: kd-trees (due Thu 3/10 before spring break) Reading: Internet sites I found useful: kd-trees: slides from CG class of Mark van Kreleved, Utrecht Demos: from U Maryland | from diku | from H. Akcan | JavaGeom Range trees: slides from CG class of Mark van Kreleved, Utrecht
Week 7 [3/8, 3/10]	Intersections: Segment-segment intersection (computing intersection coordinates). Point-in-polygon test (point in convex polygon; point in non-convex polygon via ray-crossing). Slides: Reading: OR chapter 7.2, 7.4 Internet sites I found useful:
Week 8 [3/29, 3/31]	Art gallery problems. Definition and properties. Fisk's sufficiency proof. Slides: ArtGallery Programming assignment: Visibility polygon (Part 1 due Tue 4/12) Reading: OR 1 Internet links that I found useful: Slides from CG class of Mark von Kreveld, Utrecht. Notes from UCSB (Subhash Suri)
Week 9 [4/5, 4/7]	Polygon triangulation (Polygon triangulation in quadratic time via ear removal. Triangulating monotone mountains. An O(n lg n) triangulation algorithm via trapezoidalization and partition into monotone mountains). Slides: PolygonTriangulation Reading: OR 2 Internet links that I found useful: Notes from Stanford: Triangulating simple polygons | Slides by Mark von Kreveld, Utrecht Notes by Robert Pless, WUSTL | Notes Part I | Part II by Misha Kazhdan at JHU:
Week 10 [4/12, 4/14]	Voronoi diagrams. Slides: voronoi | in class work Reading: OR 5 Programming assignment: Visibility polygon (Part 2 due Tue 4/19) Internet links I found useful: Scott Snibbe and Boundary functions | Boundary functions on youtube
Week 11 [4/19, 4/21]	Delaunay triangulations. Slides: delaunay | in class work Reading: OR 5 Assignment 5: Combinatorial motion planning with VG (due Tue 5/3) Internet links I found useful: slides from CG class of Mark van Kreleved, Utrecht
Week 12 [4/26, 4/28]	Motion planning. Reading: OR 8 Slides: motionplanning I | in class exercises | motionplanning II Internet links I found useful: Steven LaValle book Planning algorithm | Chapter 6 (Combinatorial motion planning ) | website
Week 13 [5/3, 5/5]	Motion planning Slides: motionPlanning III Assignment 6: Approximate motion planning in configuration space (due Tue 5/10 in class, and Tue 5/20, 9am) Internet links I found useful: Probabilistic roadmaps for path planning in high dimensional configuration spaces by Kavraki, Svestka, Latombe and Overmars | A comparative study of probabilistic roadmap planners by Geraertz and Overmars Demo of potential field Latombe's website at Stanford RRT: RRT-Connect: An efficient approach to single-query path planning by Kuffner and LaValle | wiki page
Week 14 [5/10]	Last class: demos and donuts.