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An Extended Evaluation of Open Source Surface Reconstruction Software for Robotic Applications

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Abstract

Polygonal surface reconstruction is a growing field of interest in mobile robotics. Recently, several open source surface reconstruction software packages have become publicly available. This paper presents an extensive evaluation of several of such packages, with emphasis on their usability in robotic applications. The main aspects of the evaluation are run time, accuracy and topological correctness of the generated polygon meshes.

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Authors and Affiliations

  1. Universität Osnabrück, Albrechtstr. 28, D-49076, Osnabrück, Germany

    Thomas Wiemann

  2. FH Wedel - University of Applied Sciences, Feldstr. 143, D-22880, Wedel, Germany

    Hendrik Annuth

  3. DFKI Robotics Innovation Center, Albrechtstr. 28, D-49076, Osnabrück, Germany

    Kai Lingemann

  4. Universität Osnabrück, Albrechtstr. 28, D-49076, Osnabrück, Germany

    Joachim Hertzberg

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  1. Thomas Wiemann
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  2. Hendrik Annuth
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  3. Kai Lingemann
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  4. Joachim Hertzberg
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Correspondence to Thomas Wiemann.

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Wiemann, T., Annuth, H., Lingemann, K. et al. An Extended Evaluation of Open Source Surface Reconstruction Software for Robotic Applications. J Intell Robot Syst 77, 149–170 (2015). https://doi.org/10.1007/s10846-014-0155-1

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  • DOI: https://doi.org/10.1007/s10846-014-0155-1

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