3D is here: Point Cloud Library (PCL)

3D is here: Point Cloud Library (PCL)Radu Bogdan Rusu and Steve CousinsWillow Garage68 Willow Rd., Menlo Park, CA 94025, With the advent of new, low-cost 3D sensinghardware such as the Kinect, and continued efforts in advancedpoint Cloud processing, 3D perception gains more and moreimportance in robotics, as well as other this paper we present one of our most recent initiatives inthe areas of Point Cloud perception: PCL ( Point Cloud Library ). PCL presents an advancedand extensive approach to the subject of 3D perception, andit s meant to provide support for all the common 3D buildingblocks that applications need. The Library contains state-of-the art algorithms for: filtering, feature estimation, surfacereconstruction, registration, model fitting and is supported by an international community of roboticsand perception researchers. We provide a brief walkthrough ofPCL including its algorithmic capabilities and INTRODUCTIONFor robots to work in unstructured environments, they needto be able to perceive the world.

PCL comes with its own visualization library, based on VTK [5]. VTK offers great multi-platform support for ren-dering 3D point cloud and surface data, including visualiza-tion support for tensors, texturing, and volumetric methods. The PCL Visualization library is meant to integrate PCL with VTK, by providing a comprehensive visualization layer

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  Cloud, Points, Point cloud

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