Data Handling in Large-Scale Surface Reconstruction

Thomas Wiemann; Marcel Mrozinski; Dominik Feldschnieders; Kai Lingemann; Joachim Hertzberg

In: Proceedings of the 13th International Conference. International Conference on Intelligent Autonomous Systems (IAS-13), 13th, July 3-7, Shanghai, China, Pages 499-511, ISBN 978-3-319-08337-7, Springer International Publishing, 2016.


Using high resolution laser scanners, it is possible to create consistent 3D point clouds of large outdoor environments in a short time. Mobile systems are able to measure whole cities efficiently and collect billions of data points. Such large amounts of data can usually not be processed on a mobile system. One approach to create a feasible environment representation that can be used on mobile robots is to compute a compact polygonal environment representation. This paper addresses problems and solutions when processing large point clouds for surface reconstruction.

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Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence