System and methods for refining room segments to improve aesthetic quality for end-user applications

Abstract

The disclosure presents an efficient method for improving the aesthetic quality of noisy room segments corresponding to a scanned environment, such as those used by mobile robots to navigate an environment to perform a task. Room polygons are extracted from the noisy room segments and visual scores of the extracted room polygons are assessed. Based on the visual score, low scoring room polygons are removed or merged. A polygon mesh is formed from the room segments, which is then simplified and aligned using efficient methods. Finally, room segments and boundaries between rooms are recovered to generate refined room segments from the polygon mesh. Compared to the noisy room segments, the refined room segments are better suited for visual presentation to users, such as in mobile applications for operating such mobile robots.