The invention provides a
functional modeling method for an indoor scene. The
functional modeling method includes the first step of extracting the
pose of a depth camera, integrating the
pose of the depth camera into an ICP
algorithm and carrying out real-time registration reestablishment on three-dimensional surfaces according to the ICP
algorithm, the second step of carrying out segmenting and clustering to realize semantic segmentation of the scene, the third step of extracting point-cloud sets with the area larger than a preset threshold value, the fourth step of judging whether point-cloud sets perpendicular to the ground exist, the fifth step of extracting a
handle, the sixth step of pulling out the
handle, recording the opening process, the closing process and the internal structure and carrying out functional labeling, the seventh step of judging whether point-cloud sets parallel to the ground exist, the eighth step of carrying out Euclid clustering and segmenting to obtain a plurality of individual objects, the ninth step of moving away the individual objects, recording blocked parts and carrying out functional labeling, and the tenth step of carrying out summarizing to obtain a functional model of the indoor scene. According to the method, functional operation can be conducted on the parts with labels, so interactive experience of users is greatly promoted.