Visibility of Point Clouds and Mapping of Unknown Environments

  • Yanina Landa
  • Richard Tsai
  • Li-Tien Cheng
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4179)


We present an algorithm for interpolating the visible portions of a point cloud that are sampled from opaque objects in the environment. Our algorithm projects point clouds onto a sphere centered at the observing locations and performs essentially non-oscillatory (ENO) interpolation to the projected data. Curvatures of the occluding objects can be approximated and used in many ways. We show how this algorithm can be incorporated into novel algorithms for mapping an unknown environment.


Point Cloud Visibility Function Vantage Point Unknown Environment Occlude Object 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Yanina Landa
    • 1
  • Richard Tsai
    • 2
  • Li-Tien Cheng
    • 3
  1. 1.Department of MathematicsUniversity of CaliforniaLos AngelesUSA
  2. 2.Department of MathematicsThe University of Texas at AustinUSA
  3. 3.Department of MathematicsUniversity of CaliforniaSan DiegoUSA

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