Lines, Circles, Planes and Spheres

Let $S$ be a set of $n$ points in $\mathbb{R}^3$, no three collinear and not all coplanar. If at most $n-k$ are coplanar and $n$ is sufficiently large, the total number of planes determined is at least $1 + k \binom{n-k}{2}-\binom{k}{2}(\frac{n-k}{2})$. For similar conditions and sufficiently large $n$, (inspired by the work of P. D. T. A. Elliott in \cite{Ell67}) we also show that the number of spheres determined by $n$ points is at least $1+\binom{n-1}{3}-t_3^{orchard}(n-1)$, and this bound is best possible under its hypothesis. (By $t_3^{orchard}(n)$, we are denoting the maximum number of three-point lines attainable by a configuration of $n$ points, no four collinear, in the plane, i.e., the classic Orchard Problem.) New lower bounds are also given for both lines and circles.Comment: 37 page

Incircular nets and confocal conics

We consider congruences of straight lines in a plane with the combinatorics of the square grid, with all elementary quadrilaterals possessing an incircle. It is shown that all the vertices of such nets (we call them incircular or IC-nets) lie on confocal conics. Our main new results are on checkerboard IC-nets in the plane. These are congruences of straight lines in the plane with the combinatorics of the square grid, combinatorially colored as a checkerboard, such that all black coordinate quadrilaterals possess inscribed circles. We show how this larger class of IC-nets appears quite naturally in Laguerre geometry of oriented planes and spheres, and leads to new remarkable incidence theorems. Most of our results are valid in hyperbolic and spherical geometries as well. We present also generalizations in spaces of higher dimension, called checkerboard IS-nets. The construction of these nets is based on a new 9 inspheres incidence theorem.Comment: 33 pages, 24 Figure

Simple geometric algorithms to aid in clearance management for robotic mechanisms

Global geometric shapes such as lines, planes, circles, spheres, cylinders, and the associated computational algorithms which provide relatively inexpensive estimates of minimum spatial clearance for safe operations were selected. The Space Shuttle, remote manipulator system, and the Power Extension Package are used as an example. Robotic mechanisms operate in quarters limited by external structures and the problem of clearance is often of considerable interest. Safe clearance management is simple and suited to real time calculation, whereas contact prediction requires more precision, sophistication, and computational overhead

Direct Linear Interpolation of Geometric Objects in Conformal Geometric Algebra

Abstract: Typically we do not add objects in conformal geometric algebra (CGA), rather we apply operations that preserve grade, usually via rotors, such as rotation, translation, dilation, or via reflection and inversion. However, here we show that direct linear interpolation of conformal geometric objects can be both intuitive and of practical use. We present a method that generates useful interpolations of point pairs, lines, circles, planes and spheres and describe algorithms and proofs of interest for computer vision applications that use this direct averaging of geometric objects

Output Sensitive Algorithms for Approximate Incidences and Their Applications

An epsilon-approximate incidence between a point and some geometric object (line, circle, plane, sphere) occurs when the point and the object lie at distance at most epsilon from each other. Given a set of points and a set of objects, computing the approximate incidences between them is a major step in many database and web-based applications in computer vision and graphics, including robust model fitting, approximate point pattern matching, and estimating the fundamental matrix in epipolar (stereo) geometry. In a typical approximate incidence problem of this sort, we are given a set P of m points in two or three dimensions, a set S of n objects (lines, circles, planes, spheres), and an error parameter epsilon>0, and our goal is to report all pairs (p,s) in P times S that lie at distance at most epsilon from one another. We present efficient output-sensitive approximation algorithms for quite a few cases, including points and lines or circles in the plane, and points and planes, spheres, lines, or circles in three dimensions. Several of these cases arise in the applications mentioned above. Our algorithms report all pairs at distance 1. Our algorithms are based on simple primal and dual grid decompositions and are easy to implement. We note though that (a) the use of duality, which leads to significant improvements in the overhead cost of the algorithms, appears to be novel for this kind of problems; (b) the correct choice of duality in some of these problems is fairly intricate and requires some care; and (c) the correctness and performance analysis of the algorithms (especially in the more advanced versions) is fairly non-trivial. We analyze our algorithms and prove guaranteed upper bounds on their running time and on the "distortion" parameter alpha. We also briefly describe the motivating applications, and show how they can effectively exploit our solutions. The superior theoretical bounds on the performance of our algorithms, and their simplicity, make them indeed ideal tools for these applications. In a series of preliminary experimentations (not included in this abstract), we substantiate this feeling, and show that our algorithms lead in practice to significant improved performance of the aforementioned applications

Darboux cyclides and webs from circles

Motivated by potential applications in architecture, we study Darboux cyclides. These algebraic surfaces of order a most 4 are a superset of Dupin cyclides and quadrics, and they carry up to six real families of circles. Revisiting the classical approach to these surfaces based on the spherical model of 3D Moebius geometry, we provide computational tools for the identification of circle families on a given cyclide and for the direct design of those. In particular, we show that certain triples of circle families may be arranged as so-called hexagonal webs, and we provide a complete classification of all possible hexagonal webs of circles on Darboux cyclides.Comment: 34 pages, 20 figure