Before revision: This paper presents Polylidar, an efficient algorithm to extract non-convex polygons from 2D point sets  . Polylidar is able to extract multiple disjoint polygons and capture interior holes.
After revision: This paper presents Polylidar, an efficient algorithm to extract non-convex polygons from 2D point sets , including interior holes. Plane segmented point clouds can be input into Polylidar to extract their polygonal counterpart, thereby reducing map size and improving visualization . Polylidar is able to extract multiple disjoint polygons and capture interior holes.