Fig. 1. Framework of indoor floor plan construction system

Fig. 2. Pinhole camera model

Fig. 3. Principle of pseudo-LiDAR radius calculation

Fig. 4. Hierarchical filter model

Fig. 5. Schematic diagram of the threshold selection method for hierarchical filtering

Fig. 6. Integrated equipment for map construction

Fig. 7. Visualized results of stratification filtering experiments. (a) Experimental scenario (d1=1.13m and d2=0.53m); (b) point cloud map (d1=1.13m and d₂=0.53 m); (c)experimental scenario (d2=0.53m and d3=0.48m); (d) point cloud map (d2=0.53m and d3=0.48m)

Fig. 8. Results of point cloud calibration. (a) Result of point cloud calibration at 0.48 m; (b) result of point cloud calibration at 0.53 m; (c) result of point cloud calibration at 1.13 m

Fig. 9. Visualization results of point cloud calibration at 1.13 m. (a) Scenario of experiments; (b) original pseudo-LiDAR point clouds; (c) point clouds of small sample data after calibration; (d) point clouds of large sample data after calibration

Fig. 10. Experimental scenes for indoor plan floor construction

Fig. 11. Results of indoor floor plan construction. (a) (d) (g) (j) Results of map building by Gmapping method based on LiDAR; (b) (e) (h) (k) results of map building by Gmapping-Fusion method; (c) (f) (i) (l) results of map building by proposed method