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We present a hybrid approach for modeling complex interior structural elements from the unstructured point cloud without additional information. The proposed approach focuses on an integrated modeling strategy that can reconstruct structural elements and keep the balance of model completeness and quality. First, a data-driven approach detects the complete structure points of indoor scenarios including the curved wall structures and detailed structures. After applying the down-sampling process to point cloud dataset, ceiling and floor points are detected by RANSAC. The ceiling boundary points are selected as seed points of the growing algorithm to acquire points related to the wall segments. Detailed structures points are detected using the Grid-Slices analysis approach. Second, a model-driven refinement is conducted to the structure points that aims to decrease the impact of point cloud accuracy on the quality of the model. RANSAC algorithm is implemented to detect more accurate layout, and the hole in structure points is repaired in this refinement step. Lastly, the Screened Poisson surface reconstruction approach is conducted to generate the model based on the structure points after refinement. Our approach was validated on the backpack laser dataset, handheld laser dataset, and synthetic dataset, and experimental results demonstrate that our approach can preserve the curved wall structures and detailed structures in the model with high accuracy.

Structural Elements Detection and Reconstruction (SEDR): A Hybrid Approach for Modeling Complex Indoor Structures