In order to test our algorithm on more general architectural
shapes, we generated three synthetic models (SYNTH 1, SYNTH
2 and SYNTH 3, shown in Fig. 10). The models have been generated
manually using a 3D modeling software and have been virtually
scanned from several positions to simulate the results of 3D laser
range scanning. The sampling resolution in this virtual scanning
process was set to the one used in real-world acquisitions. To
make the simulation more realistic, we corrupted the depth
measurements with additive Gaussian noise, using σ ¼ 1 mm to
obtain a quality similar to that of the real scans. Moreover, we
simulated the scattered outliers outside of the actual architecture