Computational geometry: an introduction
Computational geometry: an introduction
Computing Voronoi diagrams in digital pictures
Pattern Recognition Letters
Voronoi diagrams—a survey of a fundamental geometric data structure
ACM Computing Surveys (CSUR)
Spatial tessellations: concepts and applications of Voronoi diagrams
Spatial tessellations: concepts and applications of Voronoi diagrams
Computing the shape of a point set in digital images
Pattern Recognition Letters
On the recognition of digital circles in linear time
Computational Geometry: Theory and Applications
The linear time recognition of digital arcs
Pattern Recognition Letters
On fast planning of suboptimal paths amidst polygonal obstacles in plane
Theoretical Computer Science - Special issue on design and analysis of geometrical algorithms for robot motion planning and vision
Robust Image Corner Detection Through Curvature Scale Space
IEEE Transactions on Pattern Analysis and Machine Intelligence
Boundary-based corner detection using eigenvalues of covariance matrices
Pattern Recognition Letters
Detection of line junctions and line terminations using curvilinear features
Pattern Recognition Letters
Robot Motion Planning
Shape Analysis and Classification: Theory and Practice
Shape Analysis and Classification: Theory and Practice
Computing Homotopic Shortest Paths Efficiently
ESA '02 Proceedings of the 10th Annual European Symposium on Algorithms
Constructing the generalized local Voronoi diagram from laser range scanner data
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Proceedings of the 2nd International Conference on Interaction Sciences: Information Technology, Culture and Human
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This paper discusses the techniques and their applications in the development of a path planning system composed of three modules, namely: global vision (GVM), trajectory planning (TPM) and navigation control (NCM). The GVM captures and processes the workspace image to identify the obstacle and the robot configurations. These configurations are used by the TPM to generate the Voronoi roadmap, to compute the maximal clearance shortest feasible path and the visibility pathway between two configurations. The NCM controls the robot functionalities and navigation. To validate the path planning system, three sets of experiments have been conducted using the Lab robot Khepera, which have shown very good results.