diff --git a/AABB_tree/include/CGAL/AABB_tree.h b/AABB_tree/include/CGAL/AABB_tree.h
index 9c2d43fadae..9020a2e76c9 100644
--- a/AABB_tree/include/CGAL/AABB_tree.h
+++ b/AABB_tree/include/CGAL/AABB_tree.h
@@ -336,6 +336,12 @@ public:
 		template<typename Query>
 		bool do_intersect(const Query& query) const;
 
+        template<typename Primitive_type>
+        bool do_intersect_join(const AABB_tree &other,
+                               const Point &Translation_point,
+                               const Primitive_type &p,
+                               const Primitive_type &q) const;
+
     /// Returns the number of primitives intersected by the
     /// query. \tparam Query must be a type for which
     /// `do_intersect` predicates are defined
@@ -568,6 +574,16 @@ public:
 			}
 		}
 
+        template <class Traversal_traits>
+        void join_traversal(const AABB_tree &other_tree, Traversal_traits &traits) const
+        {
+            if (!empty() && !other_tree.empty()) {
+                root_node()->template join_traversal<Traversal_traits>(*(other_tree.root_node()), traits, m_primitives.size(), other_tree.m_primitives.size(), true);
+            } else {
+                std::cerr << "AABB tree join traversal with empty tree" << std::endl;
+            }
+        }
+
 	private:
 		typedef AABB_node<AABBTraits> Node;
 
@@ -1082,6 +1098,20 @@ public:
 		return traversal_traits.is_intersection_found();
 	}
 
+    template<typename Tr>
+    template<typename Primitive_type>
+    bool
+        AABB_tree<Tr>::do_intersect_join(const AABB_tree &other,
+                                         const Point &Translation_point,
+                                         const Primitive_type &p,
+                                         const Primitive_type &q) const {
+        using namespace CGAL::internal::AABB_tree;
+        typedef typename AABB_tree<Tr>::AABB_traits AABBTraits;
+        Do_intersect_joined_traits<AABBTraits, Primitive_type> traversal_traits(Translation_point, p, q);
+        this->join_traversal(other, traversal_traits);
+        return traversal_traits.is_intersection_found();
+    }
+
 	template<typename Tr>
 	template<typename Query>
 	typename AABB_tree<Tr>::size_type
diff --git a/AABB_tree/include/CGAL/internal/AABB_tree/AABB_traversal_traits.h b/AABB_tree/include/CGAL/internal/AABB_tree/AABB_traversal_traits.h
index 793631ae347..575dca2ead3 100644
--- a/AABB_tree/include/CGAL/internal/AABB_tree/AABB_traversal_traits.h
+++ b/AABB_tree/include/CGAL/internal/AABB_tree/AABB_traversal_traits.h
@@ -284,6 +284,73 @@ private:
 };
 
 
+template<typename AABBTraits, typename Primitive_type>
+class Do_intersect_joined_traits {
+  typedef typename AABBTraits::Point_3 Point;
+  typedef typename AABBTraits::Primitive Primitive;
+  typedef ::CGAL::AABB_node<AABBTraits> Node;
+public:
+    Do_intersect_joined_traits(const Point &point, const Primitive_type &p, const Primitive_type &q)
+        : m_is_found(false) , m_point(point) {
+        m_traits_ptr = new AABBTraits(point, p, q);
+    }
+
+    bool go_further() const {
+        return !m_is_found;
+    }
+
+    void intersection(const Primitive &primitive1, const Primitive &primitive2, bool toSwitch) {
+        if (!toSwitch) {
+            if (m_traits_ptr->do_intersect_object()(primitive1, primitive2)) {
+                m_is_found = true;
+            }
+        } else {
+            if (m_traits_ptr->do_intersect_object()(primitive2, primitive1)) {
+                m_is_found = true;
+            }
+        }
+    }
+
+    bool do_intersect(const Node &node_1, const Node &node_2, bool toSwitch) const {
+        if (!toSwitch) {
+            return m_traits_ptr->do_intersect_object()(node_1.bbox(), node_2.bbox());
+        } else {
+            return m_traits_ptr->do_intersect_object()(node_2.bbox(), node_1.bbox());
+        }
+    }
+
+    bool do_intersect(const Node &node_1, const Primitive &primitive2, bool toSwitch) const {
+        if (!toSwitch) {
+            return m_traits_ptr->do_intersect_object()(node_1.bbox(), primitive2);
+        } else {
+            return m_traits_ptr->do_intersect_object()(primitive2, node_1.bbox());
+        }
+    }
+
+    bool do_intersect(const Primitive &primitive1, const Node &node_2, bool toSwitch) const {
+        if (!toSwitch) {
+            return m_traits_ptr->do_intersect_object()(primitive1, node_2.bbox());
+        } else {
+            return m_traits_ptr->do_intersect_object()(node_2.bbox(), primitive1);
+        }
+    }
+
+    bool is_intersection_found() const {
+        return m_is_found;
+    }
+
+    ~Do_intersect_joined_traits() {
+        delete m_traits_ptr;
+    }
+
+private:
+    bool m_is_found;
+    Point m_point;
+    //Primitive_type& m_p,m_q;
+    AABBTraits *m_traits_ptr;
+};
+
+
 /**
  * @class Projection_traits
  */
diff --git a/Minkowski_sum_2/include/CGAL/Minkowski_sum_2/new/aabb/AABB_collision_detector_2.h b/Minkowski_sum_2/include/CGAL/Minkowski_sum_2/new/aabb/AABB_collision_detector_2.h
index 9cd6af2f771..24be327a69e 100644
--- a/Minkowski_sum_2/include/CGAL/Minkowski_sum_2/new/aabb/AABB_collision_detector_2.h
+++ b/Minkowski_sum_2/include/CGAL/Minkowski_sum_2/new/aabb/AABB_collision_detector_2.h
@@ -1,7 +1,7 @@
 #ifndef CGAL_AABB_COLLISION_DETECTOR_2_H
 #define CGAL_AABB_COLLISION_DETECTOR_2_H
 
-#include <CGAL/Minkowski_sum_2/new/aabb/AABB_tree_2.h>
+#include <CGAL/AABB_tree.h>
 #include <CGAL/Minkowski_sum_2/new/aabb/AABB_traits_2.h>
 #include <CGAL/Minkowski_sum_2/new/aabb/AABB_segment_2_primitive.h>
 
@@ -17,7 +17,7 @@ public:
     typedef typename Polygon_2::Edge_const_iterator Edge_iterator;
     typedef AABB_segment_2_primitive<Kernel_, Edge_iterator, Polygon_2> Tree_segment_2;
     typedef AABB_traits_2<Kernel_, Tree_segment_2> Tree_traits;
-    typedef AABB_tree_2<Tree_traits> Tree_2;
+    typedef AABB_tree<Tree_traits> Tree_2;
 
 public: