Abstract: Methods for indoor 3D surface reconstruction and 2D floor plan recovery by segmenting a number of objects and building structure elements from a building scan using an electronic computing device are presented, the methods including: causing the electronic computing device to capture the building scan, where the building scan includes a number of scan points; pre-processing scan data from the building scan; generating an octree and a 2.5D model from the pre-processed scan data; extracting interior and exterior volumes from the octree model and the 2.5D model; and meshing the extracted volumes to generate a 3D object geometry and a 3D building geometry, where the 3D object geometry corresponds with the number of objects and the 3D building geometry corresponds with the indoor 3D surface reconstruction of building structure elements.

Abstract: Methods for generating a set of ordered point clouds using a mobile scanning device are presented, the method including: causing the mobile scanning device to perform a walkthrough scan of an interior building space; storing data scanned during the walkthrough; creating a 3-dimensional (3D) mesh from the scanned data; and creating the set of ordered point clouds aligned to the 3D mesh, where the creating the set of ordered point clouds aligned to the 3D mesh includes, aligning a number of scanned points with the 3D mesh, performing in parallel the steps of, coloring each of a number of scanned points, calculating a depth of each of the number of scanned points, and calculating a normal of each of the number of scanned points.

Abstract: Methods for generating a set of ordered point clouds using mobile scanning device are presented, the methods including: causing the mobile scanning device to perform a walkthrough scan of an interior building space; storing data scanned during the walkthrough; creating a 3-dimensional (3D) mesh from the scanned data; and creating the set of ordered point clouds aligned to the 3D mesh. In some embodiments, the mobile scanning device captures one or more of the following: a number of images from a number of camera positions, pose and orientation information associated with each of the number of images captured, and magnetic data information associated with each of the number of images captured. In some embodiments, the 3D mesh is a watertight triangulated 3D mesh.

Abstract: Methods for indoor 3D surface reconstruction and 2D floor plan recovery by segmenting a number of objects and building structure elements from a building scan using an electronic computing device are presented, the methods including: causing the electronic computing device to capture the building scan, where the building scan includes a number of scan points; pre-processing scan data from the building scan; generating an octree and a 2.5D model from the pre-processed scan data; extracting interior and exterior volumes from the octree model and the 2.5D model; and meshing the extracted volumes to generate a 3D object geometry and a 3D building geometry, where the 3D object geometry corresponds with the number of objects and the 3D building geometry corresponds with the indoor 3D surface reconstruction of building structure elements.

Abstract: Systems for producing 3D spherical imagery for a virtual walkthrough corresponding with a real environment are presented, the systems including: a rightward facing camera for capturing real-time rightward facing images, the rightward facing camera electronically coupled with a computing system; a leftward facing camera for capturing real-time leftward facing image data; a backward facing camera for capturing real-time backward facing image data; a frontward facing camera for capturing real-time frontward facing image data; an upward facing camera for capturing real-time upward facing image data; a number of laser scanners; and an inertial movement unit (IMU), where data from the number of laser scanners and the IMU captures 3D geometry information of the real environment and is rendered to provide a 3D virtual model of the real environment, and where image data from the cameras is rendered to provide image texture blending of the 3D virtual model.