Data Handling in Large-Scale Surface Reconstruction

  • Thomas Wiemann
  • Marcel Mrozinski
  • Dominik Feldschnieders
  • Kai Lingemann
  • Joachim Hertzberg
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)

Abstract

Using high resolution laser scanners, it is possible to create consistent 3D point clouds of large outdoor environments in a short time. Mobile systems are able to measure whole cities efficiently and collect billions of data points. Such large amounts of data can usually not be processed on a mobile system. One approach to create a feasible environment representation that can be used on mobile robots is to compute a compact polygonal environment representation. This paper addresses problems and solutions when processing large point clouds for surface reconstruction.

Keywords

Surface reconstruction 3D laser scanning Polygonal mapping 

References

  1. 1.
    N. Amenta, S. Choi, and R. K. Kolluri. The power crust. In Proceedings of the 6th ACM Symposium on Solid Modeling and Applications (SMA ’01), pages 249–266, New York, NY, USA, 2001. ACM.Google Scholar
  2. 2.
    H. Deeken, S. Pütz, T. Wiemann, K. Lingemann, and Hertzberg J. Integrating semantic information in navigational planning. In Proc. ISR/Robotik 2014, 2014.Google Scholar
  3. 3.
    J. Elseberg, S. Magnenat, R. Siegwart, and A. Nüchter. Comparison of nearest-neighbor-search strategies and implementations for efficient shape registration. Journal of Software Engineering for Robotics (JOSER), 3(1):2–12, 2012.Google Scholar
  4. 4.
    G. Guennebaud and M. Gross. Algebraic point set surfaces. In ACM SIGGRAPH 2007 papers, 2007.Google Scholar
  5. 5.
    H. Edelsbrunner and E.P. Mücke. Three-Dimensional Alpha Shapes. ACM Transactions on Graphics, 13:43–72, Jan. 1994.Google Scholar
  6. 6.
    H. Hoppe, T. DeRose, T. Duchamp, J. McDonald, and W. Stuetzle. Surface reconstruction from unorganized points. Computer Graphics, 26(2), 1992.Google Scholar
  7. 7.
    Armin Hornung, Mike Phillips, Edward Gil Jones, Maren Bennewitz, Maxim Likhachev, and Sachin Chitta. Navigation in three-dimensional cluttered environments for mobile manipulation. In Proc. ICRA 2012, pages 423–429, 2012.Google Scholar
  8. 8.
    M. Kazhdan, M. Bolitho, and H. Hoppe. Poisson surface reconstruction. In Proceedings of the 4th Eurographics Symposium on Geometry Processing (SGP ’06), pages 61–70. Eurographics Association, 2006.Google Scholar
  9. 9.
    W. E. Lorensen and H. E. Cline. Marching cubes: A high resolution 3D surface construction algorithm. In ACM SIGGRAPH, 1987.Google Scholar
  10. 10.
    K.O. Rinnewitz, T. Wiemann, K. Lingemann, and J. Hertzberg. Automatic creation and application of texture patterns to 3d polygon maps. In Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pages 3691–3696, 2013.Google Scholar
  11. 11.
    S. Stiene and J. Hertzberg. Virtual range scan for avoiding 3d obstacles using 2d tools. In Proc. ICAR 2009, 2009.Google Scholar
  12. 12.
    T. Wiemann, J. Hertzberg, K. Lingemann, and H. Annuth. An evaluation of open source surface reconstruction software for robotic applications. In Proceedings of International Conference On Advanced Robotics (ICAR 2013), 11 2013.Google Scholar
  13. 13.
    T. Wiemann, K. Lingemann, A. Nüchter, and J. Hertzberg. A toolkit for automatic generation of polygonal maps – las vegas reconstruction. In Proceedings of the 7th German Conference on Robotics (ROBOTIK 2012), pages 446–451, München, 2012. VDE Verlag.Google Scholar
  14. 14.
    T. Wiemann, A. Nüchter, K. Lingemann, S. Stiene, and J. Hertzberg. Automatic construction of polygonal maps from point cloud data. In IEEE International Workshop on Safety Security and Rescue Robotics (SSRR 2010), 2010.Google Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Thomas Wiemann
    • 1
  • Marcel Mrozinski
    • 1
  • Dominik Feldschnieders
    • 1
  • Kai Lingemann
    • 2
  • Joachim Hertzberg
    • 1
    • 2
  1. 1.Knowledge Based Systems Group, Osnabrück UniversityOsnabrückGermany
  2. 2.DFKI Robotics Innovation Center, Osnabrück BranchOsnabrückGermany

Personalised recommendations