论文标题
多边形 - 三角形网格的多边形
Polylidar -- Polygons from Triangular Meshes
论文作者
论文摘要
本文提出了Polylidar，这是一种有效的算法，可从2D点集（包括内部孔）中提取非凸多边形。平面分段点云可以输入到Polylidar中以提取其多边形对应物，从而减小地图大小并改善可视化。该算法首先要通过用户配置参数（例如三角形边缘长度）进行三角测量和过滤三角形。接下来，将连接的三角形提取到代表点集的形状的三角形网状区域中。最后，每个区域都通过新的边界转换为多边形，该方法遵循孔的孔。提出了现实世界和合成基准测试，以评估各种速度和准确性。与其他凹入多边形提取方法相比，结果显示出可比的精度和超过四倍的速度。
This paper 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.
