Abstract
Indoor structures are composed of ceilings, walls and floors that need to be modeled for a variety of applications. This paper proposes an approach to reconstructing models of indoor structures in complex environments. First, semantic pre-processing, including segmentation and occlusion construction, is applied to segment the input point clouds to generate semantic patches of structural primitives with uniform density. Then, a primitives extraction method with detected boundary is introduced to approximate both the mathematical surface and the boundary of the patches. Finally, a constraint-based model reconstruction is applied to achieve the final topologically consistent structural model. Under this framework, both the geometric and structural constraints are considered in a holistic manner to assure topologic regularity. Experiments were carried out with both synthetic and real-world datasets. The accuracy of the proposed method achieved an overall reconstruction quality of approximately 4.60 cm of root mean square error (RMSE) and 94.10% Intersection over Union (IoU) of the input point cloud. The development can be applied for structural reconstruction of various complex indoor environments.
Highlights
Structural reconstruction in complex environments poses specific challenges due to their complicated spatial relationships, irregular shapes, as well as the existence of occlusion in raw data
We evaluated the model reconstruction results from the point clouds with different complexity and variable noise levels
This paper proposes a novel 3D modeling method, namely topologically consistent structural modeling (TC-SM), based on consistent topology rules, to realize the structural modeling of complex real indoor scenes
Summary
Structural reconstruction in complex environments poses specific challenges due to their complicated spatial relationships, irregular shapes, as well as the existence of occlusion in raw data. Existing solutions can be divided into two general categories: decompositionbased methods and primitives fitting methods [11,12,13]. That means all the walls can be separated by horizontal planes and the ceilings are continuous planes without multi-level ceilings or irregular structures [14]. These methods can achieve good performance in environments where missing structural regions or noise points exist, they strongly depend on the prior definition of indoor structures [15,16,17]. Many existing approaches focus on the local fitting without satisfying the global regularity
Sign-in/Register to view highlights & summary 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 callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
