Colored Point Clouds from In-built Cameras: Automated Colouring of Walls, Ceilings and Floors

Terrestrial laser scanners equipped with in-built cameras are well suited for identifying surfaces in point clouds of building interiors. The colours from the images can be automatically projected on the planar structures, resulting in a textured 3D model of rooms, halls, corridors, stairwells and other indoor spaces. Besides this, using computer vision methods, socket, switches and other objects attached to walls can be automatically identified in the 3D model and their x,y,z positions determined. The authors present a case study.