An Open-source Library for Processing of 3D Data from Indoor Scenes

José María Martínez-Otzeta, Iñigo Mendialdua, Itsaso Rodríguez-Moreno, Igor Rodriguez Rodriguez, Basilio Sierra

Abstract: In recent years affordable 3D data acquisition devices have appeared in the market. Researchers and developers have been able to use them in a much larger scale than ever in a wide range of applications, from robotics to autonomous driving. One of these applications is the processing of 3D indoor scenes, usually in the context of autonomous navigation of mobile robots, but also in building mapping for map reconstruction or assessment of the location of structural elements. In this paper we report on the development of an open source Python package (indoor3d) for processing of 3D data obtained indoors. This package is built on top of the Open3D package, with the aim of making easier to perform common tasks that arise in indoor data processing. It has already been helpful in tasks in two different projects: in one of them was useful in the search of structural elements in a pointcloud obtained by a HoloLens device, and in the other in the location of the handle of a door for a mobile r