... for collision-free navigation and manipulation or remote control by a human operator who can understand the transmitted data more quickly. To create a 3D map, the robot captures its surroundings in three dimensions using a combination of color and depth camera, which generates a point cloud with precisely assigned distance values. The point clouds recorded at different times must first be registered in a common coordinate system. The point data is then segmented into geometric primitives such as polygons, i.e. polygons. This allows the affected regions and objects to be reliably identified in real time. Another example ...