Large Scale Surface Reconstruction


Using high resolution laser scanners, it is possible to create consistent 3D point clouds of large outdoor environments in short time. Mobile systems are able to measure whole cities efficiently and collect billions of data points. Such large amounts of data can usually not be processed on a mobile system. One approach to create a feasible environment representation that can be used on mobile robots is to compute a compact polygonal environment representation. This paper addresses problems and solutions when processing large point clouds for surface reconstruction.

In Proc. 13th International Conference on Intelligent Autonomous Systems (IAS-13), July 15-19, 2014, Padova, Italy (Paper proceedings in press, Springer)