This is code implements the example given in pages 11-15 of An Introduction to the Kalman Filter by Greg Welch and Gary Bishop, University of North Carolina at Chapel Hill, Department of Computer Science.
Delny is a Python package which can be used to make a Delaunay triangulation from a set of n-dimensional points. It is effectively a Python interface to libqhull, the C library of the Qhull program, but (currently) restricted to Delaunay triangulation. It was first developed to use in a mesh generator developed as dissertation at the University of Southampton with Hans Fangohr as supervisor. This very specific application area was the reason for the limited functionality of the libqhull wrapper, which in turn is likely the reason that there is useable code available.
SciPy (pronounced "Sigh Pie") is open-source software for mathematics, science, and engineering. It is also the name of a very popular conference on scientific programming with Python. The SciPy library depends on NumPy, which provides convenient and fast