Simulated 3D mapping

We have tested our 3D environment mapping system [4] in the simulated AVZ building and in the USARSIM yellow arena as provided by NIST. Fig 7 shows images of the arena vs. simulated depth data. Fig. 9. presents the result of an octree representation (top right) and a marching cubes algorithm (bottom right) that extracts 3D meshes reliably from the data points and vectorizes the data.

Figure 7: Left: Rendered images from the AVZ building. Right: Simulated 3D scan.

Figure 8: Left: Unreal map of the AVZ building (top) and of the yellow arena (bottom). Right: Corresponding marching cube representation (top) and point cloud in a bird eyes view (bottom).

Figure 9: Marching cube mesh of the yellow arena