Surface-based Synthesis of 3D Maps
Narek Melkumyan
Broschiertes Buch

Surface-based Synthesis of 3D Maps

An online full 3D mapping algorithm for outdoor unstructured environments

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This book presents the theoretical and practical development of a new algorithm for generating full 3D surface maps of prior unknown and unstructured environments. It introduces methods for extraction of surfaces from 3D range images, homogenization of representations of irregularly sampled surfaces, alignment of set of surfaces relative to the map and consistent unification of the same object s overlapping surfaces. The presented surface-based map of the environment is built incrementally. The resulting map represents the environment via set of individual surfaces. Objects in the map are repr...