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

Thomas Wiemann; Kai Lingemann; Andreas Nüchter; Joachim Hertzberg

In: Proceedings of the 7th German Conference on Robotics. German Conference on Robotics (ROBOTIK-12), May 21-22, Munich, Germany, Pages 446-451, ISBN 978-3-8007-3418-4, VDE Verlag, 5/2012.


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”. 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.

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz