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isprsannals II 3 W4 17 2015

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Figure 1. Split grammar: different rule types and their geometric interpretation.
Figure 2. Derivation of 2D hallway polygons from an exemplary 3D point cloud.
Figure 4. 3D indoor model for the 4th floor (here overlaid with the 3D point cloud) as obtained from applying the initial split grammar
Figure 5. Grammar-based reconstruction for the floors 2 to 6.

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