  This paper introduces a complete method for the automatic detection,
identification and localization of lighting elements in buildings, leveraging
the available building information modeling (BIM) data of a building and
feeding the BIM model with the new collected information, which is key for
energy-saving strategies. The detection system is heavily improved from our
previous work, with the following two main contributions: (i) a new refinement
algorithm to provide a better detection rate and identification performance
with comparable computational resources and (ii) a new plane estimation,
filtering and projection step to leverage the BIM information earlier for lamps
that are both hanging and embedded. The two modifications are thoroughly tested
in five different case studies, yielding better results in terms of detection,
identification and localization.
