3D Surface Reconstruction from Voxel-based Lidar Data

@article{Roldo20193DSR,
  title={3D Surface Reconstruction from Voxel-based Lidar Data},
  author={Luis Rold{\~a}o and Raoul de Charette and Anne Verroust-Blondet},
  journal={2019 IEEE Intelligent Transportation Systems Conference (ITSC)},
  year={2019},
  pages={2681-2686}
}
To achieve fully autonomous navigation, vehicles need to compute an accurate model of their direct surrounding. In this paper, a 3D surface reconstruction algorithm from heterogeneous density 3D data is presented. The proposed method is based on a TSDF voxel-based representation, where an adaptive neighborhood kernel sourced on a Gaussian confidence evaluation is introduced. This enables to keep a good trade-off between the density of the reconstructed mesh and its accuracy. Experimental… 
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