Abstract

We give an efficient, scalable, and simple algorithm for computation of a central path for navigation in closed virtual environments. The algorithm requires less pre-processing and produces paths of high visual fidelity. The algorithm enables computing paths at multiple resolutions. The algorithm is based on a distance from boundary field computed on a hierarchical subdivision of the free space inside the closed 3D object. We also present a progressive version of our algorithm based on a local search strategy thus giving navigable paths in a localized region of interest.