Relative Convex Hull Determination from Convex Hulls in the Plane
  A new algorithm for the determination of the relative convex hull in the plane of a simple polygon A with respect to another simple polygon B which contains A, is proposed. The relative convex hull is also known as geodesic convex hull, and the problem of its determination in the plane is equivalent to find the shortest curve among all Jordan curves lying in the difference set of B and A and encircling A. Algorithms solving this problem known from Computational Geometry are based on the triangulation or similar decomposition of that difference set. The algorithm presented here does not use such decomposition, but it supposes that A and B are given as ordered sequences of vertices. The algorithm is based on convex hull calculations of A and B and of smaller polygons and polylines, it produces the output list of vertices of the relative convex hull from the sequence of vertices of the convex hull of A. 
P. Wiederhold, H. Reyes
cs.CG