Abstract
Abstract. Room segmentation is a matter of ongoing interesting for indoor navigation and reconstruction in robotics and AEC. While in robotics field, the problem room segmentation has been typically addressed on 2D floorplan, interest in enrichment 3D models providing more detailed representation of indoors has been growing in the AEC. Point clouds make available more realistic and update but room segmentation from point clouds is still a challenging topic. This work presents a method to carried out point cloud segmentation into rooms based on 3D mathematical morphological operations. First, the input point cloud is voxelized and indoor empty voxels are extracted by CropHull algorithm. Then, a morphological erosion is performed on the 3D image of indoor empty voxels in order to break connectivity between voxels belonging to adjacent rooms. Remaining voxels after erosion are clustered by a 3D connected components algorithm so that each room is individualized. Room morphology is retrieved by individual 3D morphological dilation on clustered voxels. Finally, unlabelled occupied voxels are classified according proximity to labelled empty voxels after dilation operation. The method was tested in two real cases and segmentation performance was evaluated with encouraging results.
Highlights
Space is a term wider referred in many research areas
This work presents a room segmentation method for point clouds based on 3D morphological operations
The space is represented with a voxel-grid structure and indoor space is modelled from empty space
Summary
Space is a term wider referred in many research areas. It acquires different conceptualization on the discipline in which it is applied and on the target application. In the 3D modelling and reconstruction domain, the representation of spaces has been defined and interpreted in very different ways. While a formal definition of the space is not provided in the literature for outdoors, the indoor spaces have been more strictly defined. Indoor space is defined as the space enclosed by permanent structural elements such as floors, ceilings, and walls. The subdivision of indoor space into meaningful subspaces have been addressed in many works applying multiple approaches and with different goals. Since space subdivision provides spatial relations between simpler subspaces, topological representations can be generated from these relations for navigation applications. The space subdivision has been used for facilitating building reconstruction (Nikoohemat et al, 2020)
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
