Skip to main content
SpringerLink
Log in

Multistory Floor Plan Generation and Room Labeling of Building Interiors from Laser Range Data

  • Conference paper
  • First Online:
Book cover Computer Vision, Imaging and Computer Graphics - Theory and Applications (VISIGRAPP 2014)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 550))

Abstract

Automatic generation of building floor plans is useful in many emerging applications, including indoor navigation, augmented and virtual reality, as well as building energy simulation software. These applications require watertight models with limited complexity. In this paper, we present an approach that produces 2.5D extruded watertight models of building interiors from either 2D particle filter grid maps or full 3D point-clouds captured by mobile mapping systems. Our approach is to triangulate a 2D sampling of wall positions and separate these triangles into interior and exterior sets. We partition the interior volume of the building model by rooms, then simplify the model to reduce noise. Such labels are useful for building energy simulations involving thermal models, as well as for ensuring geometric accuracy of the resulting 3D model. We experimentally verify the performance of our proposed approach on a wide variety of buildings. Our approach is efficient enough to be used in real-time in conjunction with Simultaneous Localization and Mapping (SLAM) applications.

E. Turner—This research was conducted with Government support under and awarded by DoD, Air Force Office of Scientific Research, National Defense Science and Engineering Graduate (NDSEG) Fellowing, 32 CFR 168a.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

References

  1. Adan, A., Huber, D.: 3D reconstruction of interior wall surfaces under occlusion and clutter. In: International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission, pp. 275–281 (2011)

    Google Scholar 

  2. Brunskill, E., Kollar, T., Roy, N.: Topological mapping using spectral clustering and classification. In: International Conference on Intelligent Robots and Systems, pp. 2491–3496, October 2007

    Google Scholar 

  3. Chauve, A.L., Labatut, P., Pons, J.P.: Robost piecewise-planar 3D reconstruction and completion from large-scale unstructured point data. In: CVPR (2010)

    Google Scholar 

  4. Chen, G., Kua, J., Shum, S., Naikal, N., Carlberg, M., Zakhor, A.: Indoor localization algorithms for a human-operated backpack system. In: 3D Data Processing, Visualization, and Transmission (2010)

    Google Scholar 

  5. Cheng, P., Anderson, M., He, S., Zakhor, A.: Texture mapping 3D planar models of indoor environments with noisy camera poses. In: SPIE Electronic Imaging Conference (2013)

    Google Scholar 

  6. Crawley, B.B., Kawrie, L.K., Pedersen, C.O., Winkelmann, F.C.: Energyplus: energy simulation program. ASHRAE 42(4), 49–56 (2000)

    Google Scholar 

  7. Fallon, M.F., Johannsson, H., Brookshire, J., Teller, S., Leonard, J.J.: Sensor fusion for flexible human-portable building-scale mapping. In: Intelligence Robots and Systems, pp. 4405–4412 (2012)

    Google Scholar 

  8. Funkhouser, T.A., Sequin, C.H., Teller, S.J.: Management of large amounts of data in interactive building walkthroughs. In: Proceedings of the 1992 Symposium on Interactive 3D Graphics, pp. 11–21 (1992)

    Google Scholar 

  9. Garland, M., Heckbert, P.S.: Surface simplification using quadric error metrics. In: SIGGRAPH pp. 209–216 (1997)

    Google Scholar 

  10. Grisetti, G., Stachniss, C., Burgard, W.: Improving grid-based slam with rao-blackwellized particle filters by adaptive proposals and selective resampling. In: Proceedings of IEEE International Conference of Robotics and Automation, pp. 2443–2448 (2005)

    Google Scholar 

  11. Grisetti, G., Stachniss, C., Burgard, W.: Improved techniques for grid mapping with rao-blackwellized particle filters. IEEE Trans. Robot. 23(1), 34–46 (2007)

    Article  Google Scholar 

  12. Hahnel, D., Gurgard, W., Fox, D., Thrun, S.: An efficient fastslam algorithm for generating maps of large-scale cyclic environments from raw laser range measurements. In: International Conference on Intelligent Robots and Systems, vol. 1, pp. 206–211 (2003)

    Google Scholar 

  13. Holenstein, C., Zlot, R., Bosse, M.: Watertight surface reconstruction of caves from 3D laser data. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2011)

    Google Scholar 

  14. Kua, J., Corso, N., Zakhor, A.: Automatic loop closure detection using multiple cameras for 3D indoor localization. In: IS&T/SPIE Electronic Imaging (2012)

    Google Scholar 

  15. Lewis, R., Sequin, C.: Generation of 3D building models from 2D architectural plans. Comput. Aided Des. 30(10), 765–779 (1998)

    Article  Google Scholar 

  16. Okorn, B., Xiong, X., Akinci, B., Huber, D.: Toward automated modeling of floor plans. In: 3DPVT (2009)

    Google Scholar 

  17. Or, S.H., Wong, K.H., kin Yu, Y., yuan Chang, M.M.: Highly automatic approach to architectural floorplan image understanding and model generation. Pattern Recogn. (2005)

    Google Scholar 

  18. Shen, S., Michael, N., Kumar, V.: Autonomous multi-floor indoor navigation with a computationally constrained mav. In: IEEE International Conference on Robotics and Automation, pp. 20–25 (2011)

    Google Scholar 

  19. Smith, M., Posner, I., Newman, P.: Adaptive compression for 3D laser data. Int. J. Robot. Res. 30(7), 914–935 (2011)

    Article  Google Scholar 

  20. Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics. MIT Press, Cambridge (2005)

    MATH  Google Scholar 

  21. Turner, E., Zakhor, A.: Watertight as-built architectural floor plans generated from laser range data. In: 3DimPVT, October 2012

    Google Scholar 

  22. Turner, E., Zakhor, A.: Watertight planar surface meshing of indoor point-clouds with voxel carving. In: 3DV 2013 (2013)

    Google Scholar 

  23. U.S. Architectural and Transportation Barriers Compliance Board, 1331 F Street N.W. Suite 1000 Washington D.C. 20004-1111: Americans with Disabilities Act, July 1990. aNSI A117.1-1980

    Google Scholar 

  24. Xiao, J., Furukawa, Y.: Reconstructing the world’s museums. In: Fitzgibbon, A., Lazebnik, S., Perona, P., Sato, Y., Schmid, C. (eds.) ECCV 2012, Part I. LNCS, vol. 7572, pp. 668–681. Springer, Heidelberg (2012)

    Chapter  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, 94720, USA

    Eric Turner & Avideh Zakhor

Authors
  1. Eric Turner
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Avideh Zakhor
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Eric Turner .

Editor information

Editors and Affiliations

  1. Dip. di Matematica e Informatica, Università di Catania, Catania, Catania, Italy

    Sebastiano Battiato

  2. Inria/ZIRST, Saint Ismier, France

    Sabine Coquillart

  3. INRIA-Rennes/MimeTIC Tean, Rennes cedex, France

    Julien Pettré

  4. Swansea University, Swansea, UK

    Robert S. Laramee

  5. Computer Science, Linnaeus University, Växjö, Sweden

    Andreas Kerren

  6. do IPS, Escola Superior de Tecnologia, Setúbal, Portugal

    José Braz

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer International Publishing Switzerland

About this paper

Cite this paper

Turner, E., Zakhor, A. (2015). Multistory Floor Plan Generation and Room Labeling of Building Interiors from Laser Range Data. In: Battiato, S., Coquillart, S., Pettré, J., Laramee, R., Kerren, A., Braz, J. (eds) Computer Vision, Imaging and Computer Graphics - Theory and Applications. VISIGRAPP 2014. Communications in Computer and Information Science, vol 550. Springer, Cham. https://doi.org/10.1007/978-3-319-25117-2_3

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-25117-2_3

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-25116-5

  • Online ISBN: 978-3-319-25117-2

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation