Automatic 3D Reconstruction of Indoor Manhattan World Scenes Using Kinect Depth Data

This paper discusses a system to reconstruct indoor scenes automatically and evaluates its accuracy and applicability. The focus is on the realization of a simple, quick and inexpensive way to map empty or slightly furnished rooms. The data is acquired with a Kinect sensor mounted onto a pan-tilt head. The Manhattan world assumption is used to approximate the environment. The approach for determining the wall, floor and ceiling planes of the rooms is based on a plane sweep method. The floor plan is reconstructed from the detected planes using an iterative flood fill algorithm. Furthermore, the developed method allows to detect doors and windows, generate 3D models of the measured rooms and to merge multiple scans.