FUSION OF DEPTH IMAGES INTO GLOBAL VOLUMES

A computer-implemented method comprises receiving a plurality of depth images of an environment via an imaging device, each depth image associated with a local coordinate system. For each local coordinate system, each associated depth image is fused to generate a local volume. Each local volume is fused into a global volume having a global coordinate system. A surface mesh for the global volume is extracted. A floorplan layout for the global volume is determined based on the extracted surface mesh. One or more regions of inconsistency within a local volume that breaches the floorplan layout are determined. The one or more regions of inconsistency are removed from the local volume. The surface mesh for the global volume is re-extracted. Also provided is an imaging system which implements the method.