Proceedings of the DND/CSA Robotics and Knowledge Based Systems Workshop, October 15-18, 1996.
marching cubes algorithm; rangefinder; télémètre
In this paper we present a way of integrating a number of different views taken by a rangefinder in order to create a single surface model. This model consists of a mesh of triangular planar patches which can be easily and efficiently rendered on graphics hardware. Our method is based on the marching cubes algorithm which was created for rendering volumetric medical data. Our approach is efficient, incremental and relatively simple to implement. We demonstrate its application on a number of range views of an office environment.