A software project that started as a point cloud visualization tool and grew into a complex framework incorporating a lot of features (based on the Jacobs Robotics Group publications) such as:

• point cloud / plane cloud matching based on manual patch selection or automatic matching
• plane extraction from plane clouds
• X3D viewer for point clouds and plane clouds
• video generator that recreates the path of the robot based on the match scans

Part of the “Learning of 3-Dimensional Maps of Unstructured Environments on a Mobile Robot” project, funded by Deutsche Forschung Gemeinschaft (DFG).
More info at: http://robotics.jacobs-university.de/projects/3Dmap/index.htm

Jacobs University Robotics Group: http://robotics.jacobs-university.de