With the fast development of consumer-level RGB-D cameras, real-world indoor three-dimensional (3D) scene modeling and robotic applications are gaining more attention. However, indoor 3D scene modeling is still challenging because the structure of interior objects may be complex and the RGB-D data acquired by consumer-level sensors may have poor quality. There is a lot of research in this area. In this survey, we provide an overview of recent advances in indoor scene modeling methods, public indoor datasets and libraries which can facilitate experiments and evaluations, and some typical applications using RGB-D devices including indoor localization and emergency evacuation.

随着消费级RGB-D相机的快速发展，真实世界的室内三维（3D）场景建模和机器人应用越来越受到关注。然而，室内 3D 场景建模仍然具有挑战性，因为室内物体的结构可能很复杂，消费级传感器获取的 RGB-D 数据可能质量较差。在这方面有很多研究。在本次调查中，我们概述了室内场景建模方法、公共室内数据集和库的最新进展，可促进实验和评估，以及使用 RGB-D 设备的一些典型应用，包括室内定位和紧急疏散。