Line Segment Intersection
Based on Chapter 2 of Computational Geometry: Algorithms and
Applications by Mark de Berg
Prof. Raúl Manzanilla
March 12, 2025
Prof. Raúl Manzanilla Line Segment Intersection March 12, 2025 1 / 13
Introduction
Computational geometry deals with geometric problems using
algorithms.
One fundamental problem is determining if two line segments
intersect.
Applications include computer graphics, geographic information
systems (GIS), and robotics.
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Problem Definition
Given two line segments, determine if they intersect.
If they do, compute the intersection point.
The naive approach checks all pairs, leading to O(n2 ) complexity.
Prof. Raúl Manzanilla Line Segment Intersection March 12, 2025 3 / 13
Geometric Properties
Two line segments (p1 , q1 ) and (p2 , q2 ) intersect if:
Their endpoints are on opposite sides of each other’s supporting lines.
Special cases include collinear segments that overlap.
Orientation test using the cross product:
Orientation(p, q, r ) determines if r is left, right, or collinear with
respect to p and q.
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Orientation Test
Given three points (p, q, r ), the determinant of the matrix:
1 1 1
A = px qx rx is
py qy ry
1 1 1 1 0 0
det(A) = px qx rx = px qx − px rx − px
py qy ry py qy − py ry − py
= (qx − px ) · (ry − py ) − (qy − py ) · (rx − px )
> 0 : Counterclockwise
det(A) = < 0 : Clockwise
=0 : Collinear
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Orientation Test
p q
Counterclockwise orientation
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Sweep Line Algorithm
Efficient approach for detecting intersections among multiple
segments.
Uses a vertical sweep line moving from left to right.
Stores active segments in a balanced data structure.
The sweep line algorithm systematically processes events in increasing
x-order.
Key events:
1 Segment start: When the left endpoint of a segment is encountered,
it is added to the active set.
2 Segment end: When the right endpoint of a segment is encountered,
it is removed from the active set.
3 Intersection point: When two segments in the active set intersect, an
event is scheduled at the intersection.
The active segments are stored in a balanced binary search tree
(BST), ordered by their y-coordinates at the sweep line.
The BST enables efficient insertion, deletion, and neighbor queries to
detect potential intersections.
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Bentley-Ottmann Algorithm
O((n + k) log n) complexity, where k is the number of intersections.
Utilizes an event queue (sorted endpoints and intersections) and a
balanced tree (to track active segments).
Efficiently finds all intersection points.
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Algorithm Steps
1 Insert segment endpoints into an event queue.
2 Process events:
If a segment starts, add it to the active set.
If a segment ends, remove it.
If segments swap order, check for new intersections.
3 Maintain active segments in a balanced tree.
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Complexity Analysis
Naive method: O(n2 )
Bentley-Ottmann: O((n + k) log n)
Practical improvements depend on implementation details.
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Applications
Geographic Information Systems (GIS) for road intersections.
VLSI design in microelectronics.
Motion planning in robotics.
Computer graphics and rendering.
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Conclusion
Line segment intersection is a fundamental problem in computational
geometry.
The sweep line algorithm provides an efficient solution.
Optimizations depend on the number of segments and expected
intersections.
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References
M. de Berg, O. Cheong, M. van Kreveld, and M. Overmars,
Computational Geometry: Algorithms and Applications.
Additional references on geometric algorithms.
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