Learning the composition of space:
Generally, the focus of indoor mapping has been to acquire the structures that define space (Becker, et al. 2009). These structures include walls, windows, load bearing pillars and so forth. In an indoor environment the objects that compose space are also of interest. The detection of humans in imagery is an
active research area. But this needs to be expanded to the furniture that composes living spaces. This will mostly likely require building content retrieval systems in indoor acquisition system.