Automatic Map Creation for Environment Modelling in Robotic Simulators

Zusammenfassung (Abstract) :

This paper presents an approach to automatically create polygonal maps for environment modeling in simulators based on 3D point cloud data gathered from 3D sensors like laser scanners or RGB-D cameras. The input point clouds are polygonalized using a modified Marching Cubes algorithm and optimized using a pipeline of mesh reduction and filtering steps. Optionally color information from the point clouds can be used to generate textures for the reconstructed geometry.