Online facade reconstruction from dominant frequencies in structured point clouds

We present an online method for filling holes in point clouds by exploiting the regularity of urban areas. Sweeping a plane across the scene we compute periodicity, major planes, and occlusions. Extending rays from the laser that have been occluded gives a planar approximation for holes in facades. The periodicity of the architecture is used to vastly improve this approximation yielding facades that seem complete and natural. Both abstract and high resolution mesh data is constructed from the improved point clouds. All this processing is performed online allowing for seamless integration with scanner hardware.