In this case, representations of indoor scenes are less detailed but included into the broad context of a city. On the other hand, 3D GIS representations mainly supported by the CityGML data model are more focused on describing the information about the environment that is captured at different points in time. BIM considers very detailed and semantically rich information on all the physical elements comprising individual buildings as they are designed or built. In spite of the fact that GIS and BIM domains overlap in terms of building modelling, each domain still has its own focus and characteristics. Although BIM is the traditional domain encoding all the relevant information of individual buildings, Geographic Information Systems (GIS) have become increasingly detailed and have begun to model 3D cities including indoors. Most of the applications requiring indoor models need semantically-rich representations including not only geometry, but also semantics and topology. Except for one window partially covered by a curtain, all building elements were successfully reconstructed. The methodology is tested in a real case study. Doors and windows are detected from occlusions by implementing a ray-tracing algorithm. Assuming the prevalence of orthogonal intersections between walls, indoor completion is formulated as an energy minimization problem using graph cuts. The core of the methodology is the transformation of indoor reconstruction into a labelling problem of structural cells in a 2D floor plan. This work proposes an automatic method for modelling Manhattan-World indoors acquired with a mobile laser scanner in the presence of highly occluded walls. Specific challenges are related to the complex building layouts and the high presence of elements such as pieces of furniture causing clutter and occlusions. Despite the increasing demand of updated and detailed indoor models, indoor reconstruction from point clouds is still in an early stage in comparison with the reconstruction of outdoor scenes.
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