We present an algorithm to compute an approximate overlap of two convex polytopes P_1 and P_2 in R^3 under rigid motion.  Given any#R##N#epsilon in (0,1/2], our algorithm runs in O(epsilon^{-3}n log^{3.5}n) time with probability 1 - n^{-O(1)} and returns a (1-epsilon)-approximate maximum overlap, provided that the maximum overlap is at least lambda max(|P_1|,|P_2|) for some given constant lambda in (0,1].
['Hee-Kap Ahn', 'Siu-Wing Cheng', 'Hyuk Jun Kweon', 'Juyoung Yon']
Overlap of Convex Polytopes under Rigid Motion