The design and analysis of geometric algorithms has seen remarkable growth in recent years, due to their application in, for example, computer vision, graphics, medical imaging and CAD. The goal of this book is twofold: first to present a coherent and systematic treatment of the foundations; second to present algorithmic solutions to problems that are simple to state but which nevertheless are applicable in practical situations. The prerequisites for using the book are few which will make it ideal for teaching advanced courses in computational geometry.