Indoor 3d modeling and flexible space subdivision from point clouds

S. Nikoohemat, A. Diakité, S. Zlatanova, G. Vosselman

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

19 Citations (Scopus)
555 Downloads (Pure)


Indoor navigation can be a tedious process in a complex and unknown environment. It gets more critical when the first responders try to intervene in a big building after a disaster has occurred. For such cases, an accurate map of the building is among the best supports possible. Unfortunately, such a map is not always available, or generally outdated and imprecise, leading to error prone decisions. Thanks to advances in the laser scanning, accurate 3D maps can be built in relatively small amount of time using all sort of laser scanners (stationary, mobile, drone), although the information they provide is generally an unstructured point cloud. While most of the existing approaches try to extensively process the point cloud in order to produce an accurate architectural model of the scanned building, similar to a Building Information Model (BIM), we have adopted a space-focused approach. This paper presents our framework that starts from point-clouds of complex indoor environments, performs advanced processes to identify the 3D structures critical to navigation and path planning, and provides fine-grained navigation networks that account for obstacles and spatial accessibility of the navigating agents. The method involves generating a volumetric-wall vector model from the point cloud, identifying the obstacles and extracting the navigable 3D spaces. Our work contributes a new approach for space subdivision without the need of using laser scanner positions or viewpoints. Unlike 2D cell decomposition or a binary space partitioning, this work introduces a space enclosure method to deal with 3D space extraction and non-Manhattan World architecture. The results show more than 90% of spaces are correctly extracted. The approach is tested on several real buildings and relies on the latest advances in indoor navigation.
Original languageEnglish
Title of host publicationISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Subtitle of host publicationISPRS Geospatial Week 2019
EditorsG. Vosselman, S.J. Oude Elberink, M.Y. Yang
Place of PublicationEnschede
PublisherInternational Society for Photogrammetry and Remote Sensing (ISPRS)
Number of pages8
Publication statusPublished - 29 May 2019
Event4th ISPRS Geospatial Week 2019 - University of Twente, Enschede, Netherlands
Duration: 10 Jun 201914 Jun 2019
Conference number: 4

Publication series

NameISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
ISSN (Print)2194-9042


Conference4th ISPRS Geospatial Week 2019
Internet address




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