3D Reconstruction of Weak Feature Indoor Scenes Based on Hector SLAM and Floorplan Generation

The 3D reconstruction of weak feature indoor scenes is a challenging task that cannot be effectively solved by existing methods based on image features. In this paper, we propose an indoor scene reconstruction method based on Hector SLAM [1] and floorplan optimization to generate a standard and realistic 3D mesh model. First, we use Hector SLAM [1] and Lidar to generate a 2D grid map and extract the edge points as the initial floorplan by filtering the discrete noise. Second, we classify these edge points into different classes through the region growing algorithm and fit each class with a line. Then we optimize these lines according to the topological regularity of the man-made scene to obtain a standard floorplan. Finally, we combined the optimized floorplan and texture images to generate a realistic 3D Mesh model of the weak feature indoor scene. We evaluate our approach on four weak feature scenes and demonstrate the advantages over existing alternative methods.