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Digital Library of the
European Council for Modelling and Simulation |
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Title: |
Automatic
Map Creation For Environment Modelling In Robotic
Simulators |
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Authors: |
Thomas Wiemann,
Kai Lingemann, Joachim Hertzberg |
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Published in:
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(2013).ECMS 2013 Proceedings edited
by: W. Rekdalsbakken, R. T. Bye, H. Zhang European Council for Modeling
and Simulation. doi:10.7148/2013 ISBN:
978-0-9564944-6-7 27th
European Conference on Modelling and Simulation, Aalesund, Norway, May 27th –
30th, 2013 |
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Citation
format: |
Thomas
Wiemann, Kai Lingemann,
Joachim Hertzberg (2013). Automatic Map Creation For Environment Modelling In Robotic Simulators,
ECMS 2013 Proceedings edited by: W. Rekdalsbakken, R. T. Bye, H. Zhang, European Council for Modeling
and Simulation. doi:10.7148/2013-0712 |
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DOI: |
http://dx.doi.org/10.7148/2013-0712 |
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Abstract: |
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. |
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Full
text: |
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