Li, FajieKlette, ReinhardMorales, Sandino2009-06-162009-06-162009Multimedia Imaging Report 37 (2009)1178-5789http://hdl.handle.net/2292/4352You are granted permission for the non-commercial reproduction, distribution, display, and performance of this technical report in any format, BUT this permission is only for a period of 45 (forty-five) days from the most recent time that you verified that this technical report is still available from the original MI_tech website http://www.mi.auckland.ac.nz/index.php?option=com_content&view=article&id=127&Itemid=113 . All other rights are reserved by the author(s).Finding a shortest path between two given locations is of importance for mobile robots, but also (e.g.) for identifying unique paths in a given surrounding region II when (e.g.) evaluating vision software in test vehicles, or for calculating the free-space boundary in vision-based driver assistance. We assume that II is given as a triangulated surface which is not necessary simply connected.Copyright Computer Science Department, The University of Auckland. You are granted permission for the non-commercial reproduction, distribution, display, and performance of this technical report in any format, BUT this permission is only for a period of 45 (forty-five) days from the most recent time that you verified that this technical report is still available from the original CITR web site under terms that include this permission. All other rights are reserved by the author(s).https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htmTechnical ReportFields of Research::280000 Information, Computing and Communication Scienceshttp://purl.org/eprint/accessRights/OpenAccess