An approach for a floor plan generation system from multiple stereo images

The approach to an implementation of a floor plan generation system are described. This system produces, from a set of panoramic stereo images, an accurate floor plan of an entire building. Three-dimensional (3-D) information is recovered from the stereo image pairs by a combination of edge detection, line approximation, and triangulation algorithms. The data from each image pair are then combined to form a 3-D space model within a single-coordinate reference frame. This space model is stored in a hierarchical geometric modeling structure which is entered into a 3-D display system. The display system generates drafting lines that show the position of objects within each scene. These scenes are then converted to hard copy output. Possible extensions to this system are discussed