Conclusion

This paper has presented a new approach to sensor and knowledge based reconstruction of 3D indoor environments with autonomous mobile robots. The proposed method consists of three steps and can be applied after the 3D data is acquired:

• The first step is a fast feature extraction, i.e., plane detection.
  
• Second the computed planes are labeled with a predefined semantic net. The semantic net contains and implements general knowledge of indoor scenes.
  
• Third the model is refined with the constraints arising from the semantic labeling. An numerical algorithm based on Powell's method is used for the 3D model improvement.

The proposed method is included in the robot control architecture for the automatic gaging of indoor environments.