Automatic Map Creation for Environment Modelling in Robotic Simulators
In Proceedings of the European Conference on Modelling and Simulation, (ECMS-2013), 27.5.-30.5.2013, Älesund, o.A., May/2013. ISBN: 978-0-9564944-6-7.
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.