KI - Künstliche Intelligenz

, Volume 28, Issue 1, pp 53–57 | Cite as

Automatic Generation of 3D Polygon Maps for Mobile Robots

  • Thomas WiemannEmail author
Doctoral and Postdoctoral Dissertations


The recent advance in 3D measurement technology, especially 3D laser scanners and RGB-D sensors like Microsoft Kinect, has made 3D point clouds feasibly accessible on mobile robots. Together with efficient SLAM algorithms, it is now possible to generate 3D point clouds of large environments like whole buildings or even cities at high speed and low cost. The problem is that these point clouds are usually not a suitable representation for classic robotic tasks like localization or even more sophisticated problems like scene interpretation. This thesis presents methods to create polygonal environment representations that can be used for semantic mapping and object recognition.


Point Cloud Mobile Robot Terrestrial Laser Scanner Point Cloud Data Mesh Optimization 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Universität OsnabrückOsnabrückGermany

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