3D Modeling of Interior Building Environments and Objects from Noisy Sensor Suites
CALIFORNIA UNIV BERKELEY DEPT OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
Pagination or Media Count:
In this dissertation, we present several techniques used to automatically generate virtual models of indoor building environments. The interior environment of a building is scanned by a custom hardware system, which provides raw laser and camera sensor readings used to develop these models. Our modeling techniques can be separated into three categories 2D oor plan models, simplified 2.5D extruded models, and fully complex and detailed 3D models. All models are produced automatically from the output data of a backpack-mounted ambulatory scanning system, which can scan multiple oors of a building efficiently. We can capture the entirety of a large building in only a few hours, including staircases and other hard to reach locations, which improves upon the state-of-the-art static scanning by several orders of magnitude. Our algorithms are capable of producing many kinds of 3D virtual building models while traversing through a GPS-denied environment, including point clouds, 2D oor plans, and 3D building models.
- Structural Engineering and Building Technology