凸多边形是一个很有用的表示法，因为我们知道凸多边形内部任意两点之间没有障碍。
Convex polygons are a usefulrepresentation, since we know that there are no obstructions between any twopoints inside a polygon.
首先对获得的散乱数据点云进行多边形化，然后根据数据点局部表示对每点的法矢和曲率进行估算。
In this paper, we first polygonize the scattered data points, then estimate the normal vector and curvature of each point using the local presentation of data points.
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