1. Introduction . 3D reconstruction of indoor structures in complex environments has become an essential task for virtual reality, Building Information Management (BIM), emergency management, and other geoinformation-based activities [ 1 , 2 , 3 , 4 , 5 ]. Since reconstructing structural, watertight models with regularity and topologic consistency requires specific expertise and manual effort, developing efficient, robust and automatic reconstruction algorithms have attracted signi...