An algorithm for surface growing from laser scan generated point clouds

Paul, G; Liu, DK; Kirchner, N

An algorithm for surface growing from laser scan generated point clouds

Paul, G

Liu, DK

Kirchner, N

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Publication Type:: Chapter
Citation:: 2007, 362 pp. 481 - 491
Issue Date:: 2007-09-24

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Field	Value	Language
dc.contributor.author	Paul, G https://orcid.org/0000-0002-3478-0020	en_US
dc.contributor.author	Liu, DK https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Kirchner, N https://orcid.org/0000-0002-3018-992X	en_US
dc.date.issued	2007-09-24	en_US
dc.identifier.citation	2007, 362 pp. 481 - 491	en_US
dc.identifier.isbn	3540733736	en_US
dc.identifier.isbn	9783540733737	en_US
dc.identifier.uri	http://hdl.handle.net/10453/12748
dc.description.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. © 2007 Springer-Verlag Berlin Heidelberg.	en_US
dc.relation.isbasedon	10.1007/978-3-540-73374-4_57	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	An algorithm for surface growing from laser scan generated point clouds	en_US
dc.type	Chapter
utslib.citation.volume	362	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	0910 Manufacturing Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/DVC (Research)
pubs.organisational-group	/University of Technology Sydney/DVC (Research)/Institute For Sustainable Futures
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US
pubs.volume	362	en_US

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. © 2007 Springer-Verlag Berlin Heidelberg.

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http://hdl.handle.net/10453/12748