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A box-tree is a \ifasci so-called \emph{bounding-volume hierarchy} \else bounding-volume hierarchy \fi that uses axis-aligned boxes as bounding volumes. The query complexity of a box-tree with respect to a given type of query is the maximum number of nodes visited when answering such a query. We describe several new algorithms for constructing box-trees with small worst-case query complexity with respect to queries with axis-parallel boxes and with points. We also prove lower bounds on the worst-case query complexity for box-trees, which show that our results are optimal or close to optimal. Finally, we present algorithms to convert box-trees to R-trees, resulting in R-trees with (almost) optimal query complexity.

Box-trees and R-trees with near-optimal query time