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

Conference: ROBOTIK 2012 - 7th German Conference on Robotics
05/21/2012 - 05/22/2012 at Munich, Germany

Proceedings: ROBOTIK 2012

Pages: 6Language: englishTyp: PDF

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

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.