  In man-made environments such as indoor scenes, when point-based 3D
reconstruction fails due to the lack of texture, lines can still be detected
and used to support surfaces. We present a novel method for watertight
piecewise-planar surface reconstruction from 3D line segments with visibility
information. First, planes are extracted by a novel RANSAC approach for line
segments that allows multiple shape support. Then, each 3D cell of a plane
arrangement is labeled full or empty based on line attachment to planes,
visibility and regularization. Experiments show the robustness to sparse input
data, noise and outliers.
