Hybrid 3D Reconstruction of Indoor Scenes Integrating Object Recognition

Indoor 3D reconstruction is particularly challenging due to complex scene structures involving object occlusion and overlap. This paper presents a hybrid indoor reconstruction method that segments the room point cloud into internal and external components, and then reconstructs the room shape and the indoor objects in different ways. We segment the room point cloud into internal and external points based on the assumption that the room shapes are composed of some large external planar structures. For the external, we seek for an appropriate combination of intersecting faces to obtain a lightweight polygonal surface model. For the internal, we define a set of features extracted from the internal points and train a classification model based on random forests to recognize and separate indoor objects. Then, the corresponding computer aided design (CAD) models are placed in the target positions of the indoor objects, converting the reconstruction into a model fitting problem. Finally, the indoor objects and room shapes are combined to generate a complete 3D indoor model. The effectiveness of this method is evaluated on point clouds from different indoor scenes with an average fitting error of about 0.11 m, and the performance is validated by extensive comparisons with state-of-the-art methods.