Automatic Map Creation for Environment Modelling in Robotic Simulators

Thomas Wiemann, Kai Lingemann, Joachim Hertzberg

In: Proceedings of the European Conference on Modelling and Simulation. European Conference on Modelling and Simulation (ECMS-2013) May 27-30 Älesund Norway ISBN 978-0-9564944-6-7 5/2013.


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.

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz