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1 Computational Geometry --- Introduction
1.1 An Example: Convex Hulls
1.2 Degeneracies and Robustness
1.3 Application Domains
1.5 Exercises

2 Line Segment Intersection --- Thematic Map Overlay
2.1 Line Segment Intersection
2.2 The Doubly-Connected Edge List
2.3 Computing the Overlay of Two Subdivisions
2.4 Boolean Operations
2.6 Exercises

3 Polygon Triangulation --- Guarding an Art Gallery
3.1 Guarding and Triangulations
3.2 Partitioning a Polygon into Monotone Pieces
3.3 Triangulating a Monotone Polygon
3.5 Exercises

4 Linear Programming --- Manufacturing with Molds
4.1 The Geometry of Casting
4.2 Half-Plane Intersection
4.3 Incremental Linear Programming
4.4 Randomized Linear Programming
4.5 Unbounded Linear Programs
4.6* Linear Programming in Higher Dimensions
4.7* Smallest Enclosing Discs
4.9 Exercises

5 Orthogonal Range Searching --- Querying a Database
5.1 1-Dimensional Range Searching
5.2 Kd-Trees
5.3 Range Trees
5.4 Higher-Dimensional Range Trees
5.5 General Sets of Points
5.8 Exercises

6 Point Location --- Knowing Where You Are
6.1 Point Location and Trapezoidal Maps
6.2 A Randomized Incremental Algorithm
6.3 Dealing with Degenerate Cases
6.4* A Tail Estimate
6.6 Exercises

7 Voronoi Diagrams --- The Post Office Problem
7.1 Definition and Basic Properties
7.2 Computing the Voronoi Diagram
7.3 Voronoi Diagrams of Line Segments
7.4 Farthest-Point Voronoi Diagrams
7.6 Exercises

8 Arrangements and Duality --- Supersampling in Ray Tracing
8.1 Computing the Discrepancy
8.2 Duality
8.3 Arrangements of Lines
8.4 Levels and Discrepancy
8.6 Exercises

9 Delaunay Triangulations --- Height Interpolation
9.1 Triangulations of Planar Point Sets
9.2 The Delaunay Triangulation
9.3 Computing the Delaunay Triangulation
9.4 The Analysis
9.5* A Framework for Randomized Algorithms
9.7 Exercises

10 More Geometric Data Structures --- Windowing
10.1 Interval Trees
10.2 Priority Search Trees
10.3 Segment Trees
10.5 Exercises

11 Convex Hulls --- Mixing Things
11.1 The Complexity of Convex Hulls in 3-Space
11.2 Computing Convex Hulls in 3-Space
11.3* The Analysis
11.4* Convex Hulls and Half-Space Intersection
11.5* Voronoi Diagrams Revisited
11.7 Exercises

12 Binary Space Partitions --- The Painter's Algorithm
12.1 The Definition of BSP Trees
12.2 BSP Trees and the Painter's Algorithm
12.3 Constructing a BSP Tree
12.4* The Size of BSP Trees in 3-Space
12.5 BSP Trees for Low-Density Scenes
12.7 Exercises

13 Robot Motion Planning --- Getting Where You Want To Be
13.1 Work Space and Configuration Space
13.2 A Point Robot
13.3 Minkowski Sums
13.4 Translational Motion Planning
13.5* Motion Planning with Rotations
13.7 Exercises

14 Quad Trees --- Non-Uniform Mesh Generation
14.1 Uniform and Non-Uniform Meshes
14.2 Quad Trees for Point Sets
14.3 From Quad Trees to Meshes
14.5 Exercises

15 Visibility Graphs --- Finding the Shortest Route
15.1 Shortest Paths for a Point Robot
15.2 Computing the Visibility Graph
15.3 Shortest Paths for a Translating Polygonal Robot