Reconstruction results for real-world datsets. From top to bottom, left to right: ROOM 1 (a), ROOM 2 (b), OFFICE 1 (c), OFFICE 2 (d) and OFFICE 3 (e). Notice that our
algorithm can cope well with large-scale outlier artifacts originating from reflections (e.g. ROOM 2) as well as with complex room arrangements (e.g. OFFICE 2). For clarity of
visualization, the input models are shown with the ceiling removed.