A Convex Decomposition Using Convex Hulls and Local Cause of Its Non-Convergence

To exploit convexity, a non-convex object can be represented by a boolean combination of convex components. A convex decomposition method of polyhedral objects uses convex hulls and set difference operations. This decomposition, however, may not converge. In this article, we formalize this decomposition method and find local cause of non-convergence.