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An Algorithm for Surface Growing from Laser Scan Generated Point Clouds

  • G. Paul
  • D. K. Liu
  • N. Kirchner
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 362)

Abstract

In robot applications requiring interaction with a partially/unknown environment, mapping is of paramount importance. This paper presents an effective surface growing algorithm for map building based on laser scan generated point clouds. The algorithm directly converts a point cloud into a surface and normals form which sees a significant reduction in data size and is in a desirable format for planning the interaction with surfaces. It can be used in applications such as robotic cleaning, painting and welding

Keywords

Point Cloud Path Planning Collision Detection Home Point Servo Tilt 
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 2007

Authors and Affiliations

  • G. Paul
    • 1
  • D. K. Liu
    • 1
  • N. Kirchner
    • 1
  1. 1.ARC Centre of Excellence for Autonomous Systems (CAS)University of TechnologySydneyAustralia

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