Septree Representations Of Moving Objects Using Hexagonal Cylindrical Decomposition

This paper describes the volumetric decomposition of an object into a hierarchy of hexagonal cylinders. The representation results in a tree of degree 7, called septree. A hierarchical addressing system, the generalized balanced ternary (GBT), is employed for the cylinders. The objective of this paper is to present efficient computational algorithms for manipulating the tree representation as the object undergoes translation and limited rotation through space.