Region-based reconstruction of an indoor scene using an integration of active and passive sensing techniques

A region-based reconstruction technique is proposed which simplifies the process of scene reconstruction and increases reliability. Integrating grid coding and intensity image analysis methods, stable regions which make up the skeleton structure of a room (i.e. wall, ceiling, floor, etc.) are extracted. The indoor scene is then reconstructed based on 2-D and 3-D topological relationships. The experimental results show that local errors do not radically alter the topological relationships of detected regions, so robust reconstruction can be achieved