  The geometric kernel (or simply the kernel) of a polyhedron is the set of
points from which the whole polyhedron is visible. Whilst the computation of
the kernel for a polygon has been largely addressed in the literature, fewer
methods have been proposed for polyhedra. The most acknowledged solution for
the kernel estimation is to solve a linear programming problem. On the
contrary, we present a geometric approach that extends our previous method,
optimizes it anticipating all calculations in a pre-processing step and
introduces the use of geometric exact predicates. Experimental results show
that our method is more efficient than the algebraic approach on generic
tessellations and in detecting if a polyhedron is not star-shaped. Details on
the technical implementation and discussions on pros and cons of the method are
also provided.
