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Generalized Voronoi graph (any package?)

asked 2012-10-25 12:09:01 -0600

updated 2014-01-28 17:14:04 -0600

ngrennan gravatar image

hello,

I need to obtain a generalized Voronoi graph (GVG) from a grid map (like described here: http://www.sfbtr8.uni-bremen.de/project/r3/HGVG/hierarchicalVGraphs.html#Ref_2).

I have implemented my own node, but there still some tricks to solve and is not very efficient (i have used opencv libraries (cv::distanceTransform) but to obtain GVG from GVD there are lots of tricks).

Anyone knows any package that process the generalized Voronoi graph from the map?

Regards

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answered 2012-10-26 01:25:43 -0600

AHornung gravatar image

There is some code for dynamic updates of Voronoi & distance maps in alufr-ros-pkg, with some more information here: http://www.informatik.uni-freiburg.de/~lau/dynamicvoronoi/

Maybe there is also code for Voronoi graphs in there.

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Asked: 2012-10-25 12:09:01 -0600

Seen: 815 times

Last updated: Oct 26 '12