Automatic generation of floor plans for indoor navigation using point cloud

Student report (2019)

Authors

U. Rajvanshi Civil Engineering & Geosciences

Contributors

S. Verhagen Mathematical Geodesy and Positioning - CEG (supervisor 1)
Faculty
Civil Engineering & Geosciences
Copyright: © 2019 Ullas Rajvanshi
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Published Date

27-01-2019

Language

English

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Faculty

Civil Engineering & Geosciences

Abstract

This paper describes a methodology for an automated floor plan generation using point cloud captured via Mobile Laser Scanner(MLS) for indoor navigation purposes. The method takes as input a 3D point cloud and using geometrical features, a
ground plane histogram is computed representing the points density using projection. Finally using edge extraction and Hough Transform the polylines are extracted out in a very robust and efficient manner. This methodology works for any cluttered environment due to the projection and obtaining a volumetric slice where the extra noise is then removed using cluttering techniques. The
methodology tested on a hallway of academic building gives promising results.