12.1: Converting Range Data into Point Cloud Data
- Page ID
- 14844
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Point cloud data can be thought of a 3D matrix that maps a certain volume in 3D space. Each cell in this matrix, also known as Voxel, corresponds to whether there is an obstacle in this volume or not. Different intensity values could correspond to the uncertainty with which this space is to be known to be an obstacle. An efficient method to turn range information into such an uncertainty 3D map is described in (Curless & Levoy 1996) and became known as Truncated Surface Distance Function (TSDF), commonly referred to as “Point cloud”.