US 9,811,714 B2
Building datum extraction from laser scanning data
Yan Fu, Pudong New District (CN)
Assigned to Autodesk, Inc., San Rafael, CA (US)
Filed by Autodesk, Inc., San Rafael, CA (US)
Filed on Aug. 21, 2014, as Appl. No. 14/465,569.
Claims priority of provisional application 61/871,042, filed on Aug. 28, 2013.
Prior Publication US 2015/0063683 A1, Mar. 5, 2015
Int. Cl. G06K 9/00 (2006.01)
CPC G06K 9/00201 (2013.01) 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for extracting level and reference grid information for a building interior from point cloud data, comprising:
obtaining point cloud data, of the building interior, comprising laser scanning points of a building;
organizing the point cloud data into a three-dimensional structure of voxels, the three-dimensional structure consisting of an X-axis, Y-axis, and Z-axis, wherein each voxel represents a value on a regular grid in three-dimensional space;
generating an X-axis histogram by accumulating the voxels positioned along the X-axis of the three-dimensional voxel structure;
generating a Y-axis histogram by accumulating the voxels positioned along the Y-axis of the three-dimensional voxel structure;
generating a Z-axis histogram by accumulating the voxels positioned along the Z-axis of the three-dimensional voxel structure;
extracting level information from the Z-axis histogram for an interior structure of the building interior; and
extracting reference grid information of the interior structure of a floor plan for the building interior from the X-axis histogram and the Y-axis histogram, wherein peaks of the X-axis histogram and Y-axis histogram are used to identify a wall location or location marker of a reference grid.