We present an algorithm for computing the exact interior medial axis of a u
nion of balls in Rd. Our algorithm combines the simple characterization of
this medial axis given by Attali and Montanvert with the combinatorial info
rmation provided by Edelsbrunner's alpha -shape. This leads to a simple alg
orithm, which we have implemented for d = 3. (C) 2001 Published by Elsevier
Science B.V.