Methods and equipment for creating a flat floor surface

Abstract

The invention relates to methods, devices, and computer-readable storage media for creating a floor plan in the form of a point cloud model. The device according to the invention includes a processing circuit that receives a three-dimensional point cloud input corresponding to a three-dimensional space. The processing circuit determines the wall planes within the received three-dimensional point cloud input. The processing circuit generates line segments. Each line segment is created by projecting the corresponding wall plane onto the floor plane in three-dimensional space. The processing circuit represents the wall planes in three-dimensional space using line segments in two-dimensional space corresponding to the floor plane. The processing circuit adjusts the line segments in two-dimensional space to improve the floor plane. The processing circuit generates the floor plane based on the adjusted line segments.