Space outline calculation device and method

Abstract

A space outline calculation device and method are provided. The device projects a plurality of three-dimensional map points onto a projection plane to generate a plurality of projection points projected on the projection plane. The device calculates an indoor plane outline based on the projection points. The device generates a plurality of fitting planes with a normal vector parallel to a gravity vector based on the three-dimensional map points.　　The device determines a floor fitting plane and a ceiling fitting plane among the fitting planes. The device generates a space outline corresponding to a physical indoor space based on the indoor plane outline, the floor fitting plane, and the ceiling fitting plane.

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