  This paper describes an approach to automatically extracting floor plans from
the kinds of incomplete measurements that could be acquired by an autonomous
mobile robot. The approach proceeds by reasoning about extended structural
layout surfaces which are automatically extracted from the available data. The
scheme can be run in an online manner to build water tight representations of
the environment. The system effectively speculates about room boundaries and
free space regions which provides useful guidance to subsequent motion planning
systems. Experimental results are presented on multiple data sets.
