This page contains additional files for our publication on updatable distance maps and Voronoi diagrams:

B. Lau, C. Sprunk and W. Burgard
Improved Updating of Euclidean Distance Maps and Voronoi Diagrams
IEEE International Conference on Intelligent RObots and Systems (IROS), Taipei, Taiwan, 2010

Key Properties

• Efficient algorithms to update distance maps and Voronoi diagrams
• Consider true Euclidean distances rather than step counts
• Voronoi lines are thin and well connected
• 4-connected diagrams to prevent erroneous connections
• Details in the paper...

Open-source library / ROS package

• C++ library, no 3rd-party libraries required
• BSD licence, but please cite our paper if you use it in scientific publications
• Download stand-alone library at dynamicvoronoi_0.2.tgz (changelog)
• or get the dynamicvoronoi package in the alufr-ros-pkg ROS repository.

Progression of Wavefronts During the Updates