  Environmental scene reconstruction is of great interest for autonomous
robotic applications, since an accurate representation of the environment is
necessary to ensure safe interaction with robots. Equally important, it is also
vital to ensure reliable communication between the robot and its controller.
Large Intelligent Surface (LIS) is a technology that has been extensively
studied due to its communication capabilities. Moreover, due to the number of
antenna elements, these surfaces arise as a powerful solution to radio sensing.
This paper presents a novel method to translate radio environmental maps
obtained at the LIS to floor plans of the indoor environment built of
scatterers spread along its area. The usage of a Least Squares (LS) based
method, U-Net (UN) and conditional Generative Adversarial Networks (cGANs) were
leveraged to perform this task. We show that the floor plan can be correctly
reconstructed using both local and global measurements.
