A Toolkit for Automatic Generation of Polygonal Maps – Las Vegas Reconstruction

Konferenz: ROBOTIK 2012 - 7th German Conference on Robotics
21.05.2012-22.05.2012 in Munich, Germany

Tagungsband: ROBOTIK 2012

Seiten: 6Sprache: EnglischTyp: PDF

Persönliche VDE-Mitglieder erhalten auf diesen Artikel 10% Rabatt

Autoren:
Wiemann, Thomas (Universität Osnabrück, Germany)
Nüchter, Andreas (Jacobs University Bremen, Germany)
Hertzberg, Joachim (Universität Osnabrück, Germany )

Inhalt:
In this paper we present a new open source software package for automatic generation of polygonal 3D maps from point cloud data for robotic purposes called “Las Vegas Reconstruction Toolkit” [11]. The implemented algorithms focus on minimizing both the computation costs and optimization of the number of polygons in the generated maps. Furthermore, we present two application examples: 6D self localization and scene interpretation.