Indoor Reality Inc.

Damian Mrowca

Avideh Zakhor

Methods for cleaning a point cloud using an electronic computing device are presented, the method including: causing the electronic computing device to decompose the point cloud into a number of cell voxels; removing a number of outlier cell voxels; subsampling the point cloud; removing a first number of outlier points; removing a number of double surfaces; and removing a second number of outlier points. In some embodiments, method further include outputting a clean point cloud to file. In some embodiments, the causing the electronic computing device to decompose the point cloud further includes: reading into memory a number of points corresponding with the point cloud; specifying a cell voxel size; creating a cell grid to chunk the point cloud into a number of smaller sets; sorting the number of points into the number of cell voxels; and merging all point clouds.

Point cloud cleaning method

Methods for detecting a windows in a building utilizing a building scan using an electronic computing device are presented, the methods including: causing the electronic computing device to receive the building scan; processing the building scan; detecting the windows based on no return transparency of portions of the building scan; and incorporating the detected windows into a 3D model corresponding with the building scan. In some embodiments, processing the building scan generates at least the following: a colored point cloud; a 2D floor plan of the building; and a walked path. In some embodiments, detecting the windows based on transparency of a portions of the building scan further includes: decomposing the colored point cloud into walls; rotating and pixilating the walls; extracting transparent features corresponding with the windows; and classifying and smoothing the transparent features corresponding with the windows.

Growing community of inventors

Stanford, CA, United States of America

Damian Mrowca