Reconstruction results for the SYNTH 1 (a), SYNTH 2 (b) and SYNTH 3 (c) datasets. It can be seen how our algorithm can successfully deal with environments that do
not satisfy the Manhattan-World assumptions and that contain rooms with complex and irregular boundaries. Notice the presence of scattered points outside of the
windows, added to the virtual scans to simulate the artifacts from laser rays hitting reflective surfaces (e.g. glass). As in Fig. 13 we have removed the top part of the input
model for the sake of clarity.