Methods and systems for constructing map data using poisson surface reconstruction

摘要

A method and a system for generating a mesh representation of a surface. The method includes receiving a three-dimensional (3D) point cloud representing the surface, identifying and discarding one or more outliers in the 3D point cloud to generate a filtered point cloud using a Gaussian process, adding one or more additional points to the filtered point cloud to generate a reconstruction dataset, and using Poisson surface reconstruction to generate an implicit surface corresponding to the surface from the reconstruction dataset.