This project consists of a software to register 3D point clouds into a common coordinate system, as well as a viewer to display the scene. For the registration, different ICP minimizing algorithms can be chosen, as well as global relaxation methods, aiming at generating an overall globally consistent scene. Several formats for the point clouds are supported, new formats can be implemented easily. | |
Authors Andreas Nuechter; Kai Lingemann; Jochen Sprickerhof; Dorit Borrmann; Jan Elseberg; Peter Schneider; Deyuan Qui; | |
Long Description This project consists of a software to register 3D point clouds into a common coordinate system, as well as a viewer to display the scene. For the registration, different ICP minimizing algorithms can be chosen, as well as global relaxation methods, aiming at generating an overall globally consistent scene. Several formats for the point clouds are supported, new formats can be implemented easily. | |
Example Images | |
![]() A matches indoor 3D point cloud acquired with Kurt3D |
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![]() Example outdoor 3D scan |
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![]() Large outdoor scene in a bird eye view |
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![]() 3D scans inside the Kvarntorp mine near Oerebro |
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Input Data 3D scan data in various file formats. | |
Type of Map 6DSLAM can be used to create consistent 3D point clouds | |
Hardware/Software Requirements 6DSLAM was tested under gcc 4.3.2, icc 11.0 and MS Visual Studio | |
Papers Describing the Approach Andreas Nuechter: 3D Robotic Mapping, Springer Tracts in Advanced Robotics (STAR), ISBN 978-3540898832, Springer Verlag, 2009 | |
License Information This software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. The authors allow the users of OpenSLAM.org to use and modify the source code for their own research. Any commercial application, redistribution, etc has to be arranged between users and authors individually and is not covered by OpenSLAM.org. SLAM6D is licenced under GPLv3 | |
*** OpenSLAM.org is not responsible for the content of this webpage *** *** Copyright and V.i.S.d.P.: Andreas Nuechter; Kai Lingemann; Jochen Sprickerhof; Dorit Borrmann; Jan Elseberg; Peter Schneider; Deyuan Qui; *** |