Polylidar-Polygons From Triangular Meshes
Polylidar-Polygons From Triangular Meshes
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DOI：
10.1109/lra.2020.3002212
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发表时间：
2020-07-01
影响因子：
5.2
通讯作者：
Atkins, Ella
中科院分区：
文献类型：
--
作者：
Castagno, Jeremy;Atkins, Ella
这封信介绍了Polylidar，一个有效的算法，从二维点集，包括内部孔提取非凸多边形。平面分割的点云可以输入到Polylidar中以提取其多边形对应物，从而减小地图大小并提高可视化。该算法首先对点集进行三角剖分，然后根据用户可配置的参数（如三角形边长）对三角形进行过滤。接下来，将连接的三角形提取到表示点集形状的三角形网格区域中。最后通过一种新的边界跟踪方法将每个区域转换为一个多边形，该方法考虑了孔洞的存在。真实世界和合成基准比较评估Polylidar的速度和精度。实验结果表明，与其他凹多边形提取方法相比，该方法具有相当的精度和4倍以上的加速比。
This letter presents Polylidar, an efficient algorithm to extract non-convex polygons from 2D point sets, including interior holes. Plane segmented point clouds can be input into Polylidar to extract their polygonal counterpart, thereby reducing map size and improving visualization. The algorithm begins by triangulating the point set and filtering triangles by user configurable parameters such as triangle edge length. Next, connected triangles are extracted into triangular mesh regions representing the shape of the point set. Finally each region is converted to a polygon through a novel boundary following method which accounts for holes. Real-world and synthetic benchmarks are presented to comparatively evaluate Polylidar speed and accuracy. Results show comparable accuracy and more than four times speedup compared to other concave polygon extraction methods.