(0.1,0.35)
(0.16,0.2)
(0.07,0.15)
(0.12,0.3)
(0.13,0.22)
facet
edge
vertex
pr
horizon
f is visible from p,
but not from q
f
p
q
hf
pr
CH(Pr−1)
CH(Pr)
pr
prf
points facets
conflicts
Fconflict(pt)
Pconflict(f)
pt
f
e
pr
f
f1
f2
p
q
s
t
h( ,s) ρ(p,s)
ρ(q,t) h( ,t)
primal plane dual plane
UH(P)
LE(P∗)
p
p
h(p)
U
q
q(p)
q


dist(p,q)2
h(p2)
U
p3p1
h(p3) h(p1)
y = 0
Voronoi cell of p3
Voronoi cell of p1
Voronoi cell of p2
p2