The Voronoi diagram of curved objects

Abstract

Voronoi diagrams of curved objects can show certain phenomena that are often considered artifacts: The Voronoi diagram is not connected; there are pairs of objects whose bisector is a closed curve or even a two-dimensional object; there are Voronoi edges between different parts of the same site, (so-called self-Voronoiedges); these self-Voronoi-edges may end at seemingly arbitrary points, and, in the case of a circular site, even degenerate to a single isolated point. We give a systematic study of these phenomena, characterizing their differential geometric and topological properties. We show how a given set of curves can be refined such that the resulting curves define a "wellbehaved" Voronoi diagram. We also give a randomized incremental algorithm to compute this diagram. The expected running time of this algorithm is O(n log n).