A Triangular Mesh Reconstruction Algorithm for Indoor Mobile Robot

Abstract

The classic mesh reconstruction algorithm constructs a triangular mesh based on the topological relationship between points and points. It has the shortcomings of small mesh and a large amount of calculation, which is not suitable for mobile robots. For indoor scenes, a triangular mesh reconstruction algorithm based on line segments and endpoints is proposed. The 3D point cloud space is divided into three-dimensional grid space at a certain interval, and the grid center point is used to replace the data points in the grid. Extract line segments and endpoints in each X-Y plane, and then use the line segments in one plane and the endpoints of adjacent planes to construct a triangular grid. Experiments show that the algorithm can quickly and effectively construct triangular grids for indoor environments.