A geometric investigation of the skeleton of CSG objects

Abstract : This document describes an algorithm for computing the skeleton (medial-axis surface) of an object defined using constructive solid geometry (CSG). This surface is the locus of all points in the object's interior that have equal minimum distance from at least two distinct parts of the boundary. The skeleton can be used in blending, motion planning, medical tomography, computer vision, and in mesh generation. The authors also present a geometric analysis of Voronoi surfaces from which the skeleton is composed. (kr)