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The reconstruction of the floorplan for a building requires the creation of a two-dimensional floorplan from a 3D model. This task is widely employed in interior design and decoration. In reality, the structures of indoor environments are complex with much clutter and occlusions, making it difficult to reconstruct a complete and accurate floorplan. It is well known that a suitable dataset is a key point to drive an effective algorithm, while existing datasets of floorplan reconstruction are synthetic and small. Without reliable accumulations of real datasets, the robustness of methods to real scene reconstruction is weakened. In this paper, we first annotate a large-scale realistic benchmark, which contains RGBD image sequences and 3D models of 80 indoor scenes with more than 10,000 square meters. We also introduce a framework for the floorplan reconstruction with mesh-based point cloud normalization. The loose-Manhattan constraint is performed in our optimization process, and the optimal floorplan is reconstructed via constraint integer programming. The experimental results on public and our own datasets demonstrate that the proposed method outperforms FloorNet and Floor-SP.

Real-time 3D scene reconstruction has attracted a great amount of attention in the fields of augmented reality, virtual reality and robotics. Previous works usually assumed slow sensor motions to avoid large interframe differences and strong image blur, but this limits the applicability of the techniques in real cases. In this study, we propose an end-to-end 3D reconstruction system that combines color, depth and inertial measurements to achieve a robust reconstruction with fast sensor motions. We involved an extended Kalman filter (EKF) to fuse RGB-D-IMU data and jointly optimize feature correspondences, camera poses and scene geometry by using an iterative method. A novel geometry-aware patch deformation technique is proposed to adapt the changes in patch features in the image domain, leading to highly accurate feature tracking with fast sensor motions. In addition, we maintained the global consistency of the reconstructed model by achieving loop closure with submap-based depth image encoding and 3D map deformation. The experiments revealed that our patch deformation method improves the accuracy of feature tracking, that our improved loop detection method is more efficient than the original method and that our system possesses superior 3D reconstruction results compared with the state-of-the-art solutions in handling fast camera motions.