Sampling Uniformly Along the Medial Axis

Uniformly distributing the samples along the medial axis ensures that the target surface (e.g., medial axis) is well represented.

MAPRM sampling is computationally intensive and distribution is unproven.

MAPRM roadmap

UMAPRM Algorithm

UMAPRM generates roadmap nodes by finding all intersections between uniformly distributed fixed length line segments and medial axis surfaces.

Nodes Generated by MAPRM and UMAPRM


Nodes generated by MAPRM	Nodes generated by UMAPRM

UMAPRM generates more uniformly distributed configurations along the medial axis than MAPRM.

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