Planar 3D modeling of building interiors from point cloud data

We present an automatic system for planar 3D modeling of building interiors from point cloud data generated by range scanners. This is motivated by the observation that most building interiors may be modeled as a collection of planes representing ceilings, floors, walls and staircases. Our proposed system, which employs model-fitting and RANSAC, is capable of detecting large-scale architectural structures, such as ceilings and floors, as well as small-scale architectural structures, such as staircases. We experimentally validate our system on a number of challenging point clouds of real architectural scenes.