The images shown at Compact Map Building - 3D Models from Laser Data are generated with laser3d, a tool written in the context of this project. It uses OpenGL to visualize data from laser data files created by hserver/MissionLab. It is published here because it might be useful or interesting to other people, but it is not supported and most likely contains bugs.
Compact Encoding of Robot-Generated 3D Maps for Efficient Wireless Transmission
Mobile Robot Lab web page
6/27/2003, Michael Kaess (firstname.lastname@example.org)