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
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© 2007 Springer-Verlag Berlin Heidelberg
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Paul, G., Liu, D.K., Kirchner, N. (2007). An Algorithm for Surface Growing from Laser Scan Generated Point Clouds. In: Tarn, TJ., Chen, SB., Zhou, C. (eds) Robotic Welding, Intelligence and Automation. Lecture Notes in Control and Information Sciences, vol 362. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73374-4_57
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DOI: https://doi.org/10.1007/978-3-540-73374-4_57
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