Publication

A Fast and Robust 3D Feature Extraction Algorithm for Structured Environment Reconstruction

Roland Siegwart
2003
Conference Papers

Abstract

This paper describes an algorithm for generating compact feature-based 3D models of indoor environments with a mobile robot. The emphasis lies on the high performance of the algorithm, its possible incremental use, as well as its wide applicability to a variety of sensors as it does not assume any structure in the raw data at all. It recovers planar surfaces of physical environments based on a set of unorganized points and generates a compact, real-time renderable 3D model.

Official source

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Roland Siegwart
2003
Conference Papers

Abstract

Official source

Related concepts (29)

3D modeling

In 3D computer graphics, 3D modeling is the process of developing a mathematical coordinate-based representation of any surface of an object (inanimate or living) in three dimensions via specialized software by manipulating edges, vertices, and polygons in a simulated 3D space. Three-dimensional (3D) models represent a physical body using a collection of points in 3D space, connected by various geometric entities such as triangles, lines, curved surfaces, etc.

Compact space

In mathematics, specifically general topology, compactness is a property that seeks to generalize the notion of a closed and bounded subset of Euclidean space. The idea is that a compact space has no "punctures" or "missing endpoints", i.e., it includes all limiting values of points. For example, the open interval (0,1) would not be compact because it excludes the limiting values of 0 and 1, whereas the closed interval [0,1] would be compact.

Real-time computer graphics

Real-time computer graphics or real-time rendering is the sub-field of computer graphics focused on producing and analyzing images in real time. The term can refer to anything from rendering an application's graphical user interface (GUI) to real-time , but is most often used in reference to interactive 3D computer graphics, typically using a graphics processing unit (GPU). One example of this concept is a video game that rapidly renders changing 3D environments to produce an illusion of motion.

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A Fast and Robust 3D Feature Extraction Algorithm for Structured Environment Reconstruction

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