Optimizing Triangle Mesh Reconstructions of Planar Environments

Thomas Wiemann, Kai Lingemann, Joachim Hertzberg

In: IFAC (editor). Proceedings. IFAC Symposium on Intelligent Autonomous Vehicles (IAV-2016) 9th June 29-July 1 Leipzig Germany IFAC 6/2016.


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.

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz