Indoor Environment Modeling via Layered 3D Point Segmentation
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Solution Overview
Problem
Conventional mapping applications provide limited navigation information for indoor environments, as they do not offer useful data for navigating within structures, unlike they do for outdoor geographic areas.
Innovation Solution
A system and method for generating a model of an environment using a layer module to identify layers based on 3D points, a layout module to create 2D models, and a construction module to generate 3D models, allowing for the creation of accurate indoor navigation maps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional mapping applications are used to provide aerial views of geographic areas, then useful navigation information is provided for outdoor areas, but no useful navigation information is provided for indoor structures
Solution Approach 1:
The patent segments the environment into multiple layers (e.g., floor plans, ceiling plans, intermediate layers) based on vertical positioning of 3D points. Each layer is processed independently to generate 2D layouts, which are then combined to form a complete 3D model. This segmentation enables detailed indoor navigation information to be generated from aerial-like 3D point data.
Solution Approach 2:
The patent transforms 3D point cloud data into 2D layer-based layouts, then reconstructs a comprehensive 3D model from these 2D representations. This dimensional transformation allows the system to process indoor environments similarly to aerial mapping, providing navigation information for both outdoor and indoor areas.
2Measurement precision
If 3D points are projected onto layers to generate 2D models, then accurate indoor environment representations are created, but the process complexity increases
Solution Approach 1:
The complex process of generating accurate 3D models from 3D points is segmented into distinct modules: layer identification, 2D layout generation, line segment extraction, primitive shape identification, and 3D model reconstruction. Each module handles a specific transformation step, making the overall complex process more manageable and systematic.
Solution Approach 2:
The patent introduces 2D layer-based layouts as an intermediary representation between the raw 3D points and the final 3D model. This intermediate 2D representation simplifies the complexity by breaking down the 3D data into manageable horizontal or vertical slices that can be processed independently before being reassembled into the complete 3D environment model.
3Loss of information
If multiple layers are identified and processed to create comprehensive 3D models, then detailed indoor navigation information is provided, but processing time increases
Solution Approach 1:
The patent divides the 3D point cloud into multiple discrete layers based on vertical position thresholds. Each layer can be processed independently and in parallel, reducing the overall processing time while maintaining completeness. The layer-based approach allows for efficient sequential processing of horizontal or vertical slices of the environment.
Solution Approach 2:
The patent establishes a continuous processing pipeline where 3D points are systematically projected onto layers, line segments are continuously extracted from projected points, primitives are continuously identified, and 3D models are continuously reconstructed. This continuous automated workflow minimizes idle time and ensures complete processing of all layers without manual intervention.
Data Source
AI summary
System and methods for generating a model of an environment are provided. In some aspects, a system includes a layer module configured to identify one or more layers of the environment based on a plurality of three-dimensional (3D) points mapping the environment. The system also includes a layout module configured to generate a layout for each layer. Each layout includes a two-dimensional (2D) model of the environment. The system also includes a construction module configured to generate a 3D model of the environment based on the 2D model of each layout.