关键词：室内建筑环境；虚拟模型；传感器
摘 要：In this dissertation, we present several techniques used to automatically generate virtual models of indoor building environments. The interior environment of a building is scanned by a custom hardware system, which provides raw laser and camera sensor readings used to develop these models. Our modeling techniques can be separated into three categories: 2D  floor plan models, simpli ed 2.5D extruded models, and fully complex and detailed 3D models. All models are produced automatically from the output data of a backpack-mounted ambulatory scanning system, which can scan multiple  floors of a building efficiently. We can capture the entirety of a large building in only a few hours, including staircases and other hard to reach locations, which improves upon the state-of-the-art static scanning by several orders of magnitude. Our algorithms are capable of producing many kinds of 3D virtual building models while traversing through a GPS-denied environment, including point clouds, 2D  floor plans, and 3D building models.