Supplementary Material: Piecewise Planar and Compact Floorplan Reconstruction from Images

We provide details of several steps in our algorithm, which are not the contributions of the work and ommited in the main paper, but are necessary to reproduce the work. 1.1. Structure classification initialization As in Sect. 6 of the main paper, we use 3D points and free-space to initialize structure classification labels. From 3D points We first detect 3D points that are on the floor, ceiling or walls, based on their positions and normals. A 3D point is detected to be on the floor if the point is at the floor height and its normal is along the up direction, allowing an error of 0.3m and 15 degrees, respectively. Points on the ceiling are detected in the same way. A 3D point belongs to a wall if its height is between the floor and the ceiling, and the point normal is near horizontal, allowing an error of 15 degrees