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Automatic creation and application of texture patterns to 3D polygon maps

Textured polygon meshes are becoming more and more important for robotic applications. In this paper we present an approach to automatically extract textures from colored 3D point cloud data and apply them to a polygonal reconstruction of the scene. The extracted textures are analyzed for existing patters and reused if several instances appear. Emphasis of this work is on minimizing the number of used pixels while maintaining a realistic impression of the scanned environment.