An Evaluation of Open Source Surface Reconstruction Software for Robotic Applications

Thomas Wiemann, Joachim Hertzberg, Kai Lingemann, Hendrik Annuth

In: Proceedings of International Conference On Advanced Robotics. International Conference On Advanced Robotics (ICAR-13) November 25-29 Montevideo Uruguay 11/2013.


With the raising popularity of 3D sensors in robotic applications, e.g., RGB-D cameras or laser scanners, the demand for fast and reliable methods for surface reconstruction from 3D point clouds increases. Currently, several freely available implementations of such algorithms exist. This paper presents an evaluation of the usability of different open source software packages for polygonal map generation in robotic contexts.

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence