ne LiDAR point clouds), organized point clouds (e.g., range images), or user provided meshes.
The non-convex polygons extracted represent flat surfaces in an environment, while interior holes represent obstacles on said surfaces. The picture above provides an overview of Polylidar3D’s data input, frontend, backend, and output.
The frontend transforms input data into a half-edge triangular mesh. This representation provides a common level of abstraction such that the the back-end core algorithms may effici