Collision Detection for Point Cloud odels ith ounding - INESC-ID


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


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

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 
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        
      
    


        
        
        

           
    

         

         

      
        

          

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

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


 

       
 

      



   
     
          


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
 
      



       

       

      







       

         




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





       
         


          

       



         



         








       

 

          

        
         
        


       


       



         
        

     
      
          

  
        


         


          




        
      


         








       

      


       

      

       

       

         
       

       

         






       
        


         
        

         
          

          
         
        

         
      
 





       
       
          
       
        

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

         
        
       




         


        
        
        




          


          
        



        

         

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

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




       
       
       


        




 


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


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         



      


         
   

            
        


         

    
   








   




   

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







         

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









           
       

       



         



           
       


 







 












 
 








   

    


         


        
         
         


           


       




   
  
  

 

  
   
    
 
  
   



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         

         
         
         

        
           

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
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
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    


        



         
 


         







           
             
         
         





           








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
   
  
  

  

  
   
    
 
  
   
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

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





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


       


       
        

        

        
         
         
         


       








        
       


          












          

         
         




     


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
    


























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         
       


        
        
        



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         




      



        
       

        


           

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
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
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

       

       

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       
       
        
      
        

        
     
         

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
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
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 

        
       
         


        


        
     
       

 


  
    
 
   


 


           
 
 
  
         
 
     
  
  

        

 

     

 

      

       

    

 

     
 
          






 
 

 
      


 
    

 

 

 

  


    


     



 


     

      
 
   



 

 

 



     
        
 
      
   

      
     

 

 
        



 


         

  
  
   


      
    

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
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      
    

         


        
     

       
       

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
      


    
     
         
      


        
       



            




          


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        

    

      
     

  

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          

        
      
    
      
     
      
          
   
          


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