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

  • Eric Turner
  • Avideh Zakhor
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 550)


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.


Floor plan Watertight modeling Range data LiDAR 


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© Springer International Publishing Switzerland 2015

Open Access This chapter is distributed under the terms of the Creative Commons Attribution Noncommercial License, which permits any noncommercial use, distribution, and reproduction in any medium, provided the original author(s) and source are credited.

Authors and Affiliations

  1. 1.Department of Electrical Engineering and Computer SciencesUniversity of CaliforniaBerkeleyUSA

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