An Extended Evaluation of Open Source Surface Reconstruction Software for Robotic Applications

Thomas Wiemann, Hendrik Annuth, Kai Lingemann, Joachim Hertzberg

In: Journal of Intelligent & Robotic Systems (JIRS) Volume 77 Issue 1 Pages 149-170 Springer 2015.


Polygonal surface reconstruction is a growing field of interest in mobile robotics. Recently, several open source surface reconstruction software packages have become publicly available. This paper presents an extensive evaluation of several of such packages, with emphasis on their usability in robotic applications. The main aspects of the evaluation are run time, accuracy and topological correctness of the generated polygon meshes.


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German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz