A survey on indoor 3D modeling and applications via RGB-D devices

Zhilu Yuan, You Li, Shengjun Tang, Ming Li, Renzhong Guo, Weixi Wang

Abstract: With the fast development of consumer-level RGB-D cameras, real-world indoor three-dimensional (3D) scene modeling and robotic applications are gaining more attention. However, indoor 3D scene modeling is still challenging because the structure of interior objects may be complex and the RGB-D data acquired by consumer-level sensors may have poor quality. There is a lot of research in this area. In this survey, we provide an overview of recent advances in indoor scene modeling methods, public indoor datasets and libraries which can facilitate experiments and evaluations, and some typical applications using RGB-D devices including indoor localization and emergency evacuation.