DEEP: dual-space expansion for estimating penetration depth between convex polytopes

We present an incremental algorithm to estimate the penetration depth between convex polytopes in 3D. The algorithm incrementally seeks a "locally optimal solution" by walking on the surface of the Minkowski sums. The surface of the Minkowski sums is computed implicitly by constructing a local Gauss map. In practice, the algorithm works well when there is high motion coherence in the environment and is able to compute the optimal solution in most cases.