Indoor modelling from SLAM-based laser scanner

Indoor modelling from SLAM-based laser scanner: Door detection to envelope reconstruction

Díaz-Vilarino, L. (TU Delft OLD Department of GIS Technology; University of Vigo)
Verbree, E. (TU Delft OLD Department of GIS Technology)
Zlatanova, S. (TU Delft Urban Data Science)
Diakite, A.A. (TU Delft Urban Data Science)

2017

Updated and detailed indoor models are being increasingly demanded for various applications such as emergency management or navigational assistance. The consolidation of new portable and mobile acquisition systems has led to a higher availability of 3D point cloud data from indoors. In this work, we explore the combined use of point clouds and trajectories from SLAM-based laser scanner to automate the reconstruction of building indoors. The methodology starts by door detection, since doors represent transitions from one indoor space to other, which constitutes an initial approach about the global configuration of the point cloud into building rooms. For this purpose, the trajectory is used to create a vertical point cloud profile in which doors are detected as local minimum of vertical distances. As point cloud and trajectory are related by time stamp, this feature is used to subdivide the point cloud into subspaces according to the location of the doors. The correspondence between subspaces and building rooms is not unambiguous. One subspace always corresponds to one room, but one room is not necessarily depicted by just one subspace, for example, in case of a room containing several doors and in which the acquisition is performed in a discontinue way. The labelling problem is formulated as combinatorial approach solved as a minimum energy optimization. Once the point cloud is subdivided into building rooms, envelop (conformed by walls, ceilings and floors) is reconstructed for each space. The connectivity between spaces is included by adding the previously detected doors to the reconstructed model. The methodology is tested in a real case study.

Combinatorial geometry
Completeness
Connectivity
Energy minimization
Trajectory

http://resolver.tudelft.nl/uuid:768d55ab-1aba-4e9b-9c47-6d2d657c7b82

https://doi.org/10.5194/isprs-archives-XLII-2-W7-345-2017

ISPRS

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, XLII-2/W7

ISPRS Geospatial Week 2017, 2017-09-18 → 2017-09-22, Wuhan, China

Institutional Repository

conference paper

© 2017 L. Díaz-Vilarino, E. Verbree, S. Zlatanova, A.A. Diakite