Mobile reconstruction and exploration of indoor structures exploiting omnidirectional images

We summarize our recent advances in acquisition, reconstruction and exploration of indoor environments with the aid of mobile devices. % Our methods enable casual users to quickly capture and recover multi-room structures coupled with their visual appearance, starting from panorama images generated with the built-in capabilities of modern mobile devices, as well as emerging low-cost 360$^circ$ cameras. % After introducing the reconstruction algorithms at the base of our approach, we show how to build applications able to generate 3D floor plans scaled to their real-world metric dimensions and capable to manage scene not necessary limited by emph{Manhattan World} assumptions. % Then, exploiting the resulting structural and visual model, we propose a client-server interactive exploration system implementing a low-DOF navigation interface, specifically developed for touch interaction on smartphones and tablets.