Optimizing Triangle Mesh Reconstructions of Planar Environments

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• 作者：Thomas Wiemann^* ; ^{twiemann@uni-osnabrueck.de" class="auth_mail" title="E-mail the corresponding author} ; Kai Lingemann^** ; ^{kai.lingemann@dfki.de" class="auth_mail" title="E-mail the corresponding author} ; Joachim Hertzberg^*** ; ^{joachim.hertzberg@uni-osnabrueck.de" class="auth_mail" title="E-mail the corresponding author}
• 关键词：3D Mapping ; Surface Reconstruction ; Mesh Optimization ; Segmentation
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：15
• 页码：218-223
• 全文大小：1925 K

文摘

Automatic surface reconstruction from point cloud data is an active field of research in robotics, as polygonal representations are compact and geometrically precise. Standard meshing algorithms produce many redundant triangles. Therefore methods for optimization are required. In this paper we present and evaluate a mesh optimization algorithm for robotic applications that was specially designed to exploit the planar structure of typical indoor environments.