Data Handling in Large-Scale Surface Reconstruction
Thomas Wiemann, Marcel Mrozinski, Dominik Feldschnieders, Kai Lingemann, Joachim Hertzberg
In Proc. 13th International Conference on Intelligent Autonomous Systems (IAS-13), (IAS-2014), 15.7.-19.7.2014, Padova, o.A., pages 499-511, Jul/2014.
Abstract
:
Using high resolution laser scanners, it is possible to create consistent 3D point clouds of large outdoor environments in short time. Mobile systems are able to measure whole cities effciently and collect billions of data points. Such large amounts of data can usually not be
processed on a mobile system. One approach to create a feasible environment representation that can be used on mobile robots is to compute a compact polygonal environment representation. This paper addresses problems and solutions when processing large point clouds for surface reconstruction.
Keywords
:
surface reconstruction, 3D laser scanning, polygonal mapping
