Dynamic Detection of Topological Information from Grid-Based Generalized Voronoi Diagrams

Figure 2

Resulting GVD matrices constructed by the novel algorithms possessing local update mechanism: (a) is the resulting GVD, (b), (c), and (d) are metric matrices representing the left bottom 1/4 part.

(a) Graphic representation of the sample grid-based voronoi map with size 5151 (generated by DTD)

(b) Corresponding dist _s matrix where each entry keeps the integral distance to its nearest site cell

(c) Corresponding obst _s matrix where each entry keeps the site identifier and exact coordinate of its nearest site cell. Here only the site identifier is explicitly represented

(d) Corresponding voro _s matrix where each entry shows whether the site cell belongs to the GVD (register as 1) or not (register as 0)