Automatic reconstruction of wall features under clutter and occlusion

In this paper, a new method to extract wall openings (windows and doors) in interior scenes from point clouds under cluttered and occluded environments is presented. For each wall surface or a room represented by a bounding polyhedron and its 3D scan points, our method constructs a planar cell complex representation, which is used for the wall features segmentation using a graph-cut method. We evaluate our results of the proposed approach on real-world 3D scans of indoor environments and demonstrate its validity