non-convex polygons clustering algorithm
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Non-convex polygons clustering algorithm
Ekaterinburg 2016
Presenter: Mikhail Vasilenko
Introduction
• Use all obstacles
• How to decrease calculation time?
• How to optimize for quick motion planning?
Approach
• Rectangles (frames)
• Hierarchy
• Different properties on different levels
Frames to Containers
Inclusion? Intersection? One-element container?
Containers to Family
Intersection? Chains of containers? One-element family?
Families to Groups
Inclusion? Intersection? Close distance? One-element group?
Step-by-step solution
Parallel approach
Summary• Described algorithm is implemented in C++
• Tested on real-world data
• Algorithm is used in route-planning project
• Integration of parallelism is underway
Thanks for your attention!
• To cluster families into groups each of the former is assigned a rough hull
• All the groups have non-intersecting rough hulls
• Merges groups with distances lower than twice that value
Last step
Test data
• The case depicted had 1031 polygons
• which were clustered into 310 containers
• 201 families
• and 12 families groups.
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