Minkowski sum boundary surfaces of 3D-objects
M. Peternell and T. Steiner


Given two solids A and B with piecewise smooth boundary we discuss the computation of the boundary Γ of the Minkowski sum A + B. This boundary surface Γ is part of the envelope when B is moved by translations defined by vectors a ∈ A, or vice versa. We present an efficient algorithm working for dense point clouds or for triangular meshes. Besides this, the global self intersections of the boundary Γ are detected and resolved. Additionally we point to some relations between Minkowski sums and kinematics, and compute local quadratic approximations of the envelope.


    author = {M. Peternell and T. Steiner},
    title = "{M}inkowski sum boundary surfaces of {3D}-objects",
    journal = {Graphical Models},
    year = {2007},
        pages = "180-190",

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