Is there an efficient algorithm to generate a 2D concave hull?

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One of the former students in our lab used some applicable techniques for his PhD thesis. I believe one of them is called “alpha shapes” and is referenced in the following paper:

http://www.cis.rit.edu/people/faculty/kerekes/pdfs/AIPR_2007_Gurram.pdf

That paper gives some further references you can follow.

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