A Novel Indoor Structure Extraction Based on Dense Point Cloud

Author:

Shi Pengcheng,Ye Qin,Zeng Lingwen

Abstract

Herein, we propose a novel indoor structure extraction (ISE) method that can reconstruct an indoor planar structure with a feature structure map (FSM) and enable indoor robot navigation using a navigation structure map (NSM). To construct the FSM, we first propose a two-staged region growing algorithm to segment the planar feature and to obtain the original planar point cloud. Subsequently, we simplify the planar feature using quadtree segmentation based on cluster fusion. Finally, we perform simple triangulation in the interior and vertex-assignment triangulation in the boundary to accomplish feature reconstruction for the planar structure. The FSM is organized in the form of a mesh model. To construct the NSM, we first propose a novel ground extraction method based on indoor structure analysis under the Manhattan world assumption. It can accurately capture the ground plane in an indoor scene. Subsequently, we establish a passable area map (PAM) within different heights. Finally, a novel-form NSM is established using the original planar point cloud and the PAM. Experiments are performed using three public datasets and one self-collected dataset. The proposed plane segmentation approach is evaluated on two simulation datasets and achieves a recall of approximately 99%, which is 5% higher than that of the traditional plane segmentation method. Furthermore, the triangulation performance of our method compared with the traditional greedy projection triangulation show that our method performs better in terms of feature representation. The experimental results reveal that our ISE method is robust and effective for extracting indoor structures.

Publisher

MDPI AG

Subject

Earth and Planetary Sciences (miscellaneous),Computers in Earth Sciences,Geography, Planning and Development

Cited by 6 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. 3D LiDAR SLAM: A survey;The Photogrammetric Record;2024-05-13

2. LIDAR-BASED INITIAL GLOBAL LOCALIZATION USING IMPERFECT ARCHITECTURAL SKELETON INFORMATION;The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences;2022-05-30

3. NORMAL CLASSIFICATION OF 3D OCCUPANCY GRIDS FOR VOXEL-BASED INDOOR RECONSTRUCTION FROM POINT CLOUDS;ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences;2022-05-18

4. Pose Normalization of Indoor Mapping Datasets Partially Compliant with the Manhattan World Assumption;Remote Sensing;2021-11-24

5. Dynamic Intervisibility Analysis of 3D Point Clouds;ISPRS International Journal of Geo-Information;2021-11-17

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