Exact Minkowski Sums of Polygons With Holes

We present an efficient algorithm that computes the Minkowski sum of two polygons, which may have holes. The new algorithm is based on the convolution approach. Its efficiency stems in part from a property for Minkowski sums of polygons with holes, which in fact holds in any dimension: Given two polygons with holes, for each input polygon we can fill up the holes that are relatively small compared to the other polygon. Specifically, we can always fill up all the holes of at least one polygon, transforming it into a simple polygon, and still obtain exactly the same Minkowski sum. Obliterating holes in the input summands speeds up the computation of Minkowski sums.