In this paper a novel reconstruction method is presented that uses the topological relationship of detected image features to create a highly abstract but semantically rich 3D model of the reconstructed scenes. In the first step, a combined image-based reconstruction of points and lines is performed based on the current state of art structure from motion methods. Subsequently, connected planar three-dimensional structures are reconstructed by a novel method that uses the topological relationships between the detected image features. The reconstructed 3D models enable a simple extraction of geometric shapes, such as rectangles, in the scene.
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