Optimizing Triangle Mesh Reconstructions of Planar Environments
Thomas Wiemann, Kai Lingemann, Joachim Hertzberg
Editors: IFAC
In Proceedings, (IAV-2016), 29.6.-01.7.2016, Leipzig, IFAC, Jun/2016.

Abstract :

Automatic surface reconstruction from point cloud data is an active field of research in robotics, as polygonal representations are compact and geometrically precise. Standard meshing algorithms produce many redundant triangles. Therefore methods for optimization are required. In this paper we present and evaluate a mesh optimization algorithm for robotic applications that was specially designed to exploit the planar structure of typical indoor environments.



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last updated 06.09.2016
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