Issue No. 01 - January (1983 vol. 5)
Roger Mohr , Unite d'Enseignement et de Recherche Sciences Mathematiques, Université de Nancy, Nancy, France.
Ruzena Bajcsy , Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA 19104.
In this note we present an algorithm for packing spheres in an arbitrary shaped volume. This algorithm is similar to Blum's transform in that it fits spheres into a volume, but it is different in that it fits only tangential spheres, and thereby the data reduction is larger than by Blum's transform. The spheres are of variable radii, which enables us to achieve a hierarchy of intrinsic volume properties, i.e., from gross to more detailed. The result of this algorithm is a graph where the nodes are the centers of spheres and the arcs are the connections between two tangent spheres. Analysis of computational complexity and the time and error considerations are provided.
Roger Mohr, Ruzena Bajcsy, "Packing Volumes by Spheres", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 5, no. , pp. 111-116, January 1983, doi:10.1109/TPAMI.1983.4767354