Semi-automatic modelling and clutter
The constraints detailed in 3.1 and 3.2 indicate a need for a semi-automatic modelling process. And furthermore, indoor environments tend to be cluttered by furniture or other objects which occlude wall surfaces – the most desirable features for reconstruction. It could be argued that objects such as furniture should be included within interior models.
Recording the location of furniture would be beneficial for certain applications, such as navigation, particularly when visual senses are impaired as in an Emergency response scenario. However, it is better to determine the true wall position and then populate the model with further information on objects contained within it. Although making the entire reconstruction process automatic is appealing, it is accepted that the final interaction to identify structure must have user input at some stage.