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If you're interested in building Voronoi and Delaunay graphs in C++, I wrote some easily reusable code years ago, a fixed up version of Stephen Fortunes algorit
by shaneos 9y ago
If you're interested in building Voronoi and Delaunay graphs in C++, I wrote some easily reusable code years ago, a fixed up version of Stephen Fortunes algorithm.
http://chofter.com/mapviewer/voronoi.php http://chofter.com/mapviewer/voronoi.php
Pardon my pre-web-engineer lack of HTML knowledge, I was young and mind melded with robots at the time :-)
- shaneos 9y agoRelated, another cool thing that Voronoi graphs are useful for is enumeration all possible paths a robot can take in an environment. This can be used to determine the quality of the map built with sonar/radar/lidar, to better understand the value of a sensor or algorithm in SLAM. I wrote a paper on it long ago, the third one listed here if you're interested http://chofter.com/masters.php http://chofter.com/masters.php