Floor plans from 3D reconstruction of indoor environments

摘要

This paper presents a fully automated system for 3D reconstructions using RGB-D images. A floor plan view is generated from this reconstruction. The system also produces a 3D CAD model that is useful in the context of Architecture/Engineering/Construction & Facility Management (AEC-FM). This design uses a feature-based registration scheme. The multiple-view registration is performed with a graph-based algorithm, followed by a global optimization. This method aims for global consistency and accuracy. The tracking capabilities are tested with ground-truth data from benchmark datasets. Furthermore, two surface reconstruction algorithms are evaluated from open source libraries and select the one which performs better. The experimental results confirm that the system obtains accurate 3D models and reliable floor plans.