## 5 Discussion
### Synthetic Dataset Evaluation
#### 5.2.1 Floor Map Evaluation  
The quality of the floor map results was evaluated by comparing the floor map of the reconstructed model and those of the ground-truth planes. Quantitative evaluations on a 2D plane were conducted by using three metrics: IoU, DDP, and ADR. Table 4 lists the calculated evaluation metrics for the eight synthetic datasets. The calculated IoU metric in each room and corridor is shown in Figure 18. The DDP metrics in each room and corridor are shown in Figure 20, and the ADR metrics in each room and corridor are shown in Figure 20. The IoU, DDP, and ADR metric in each room and corridor in Synthetic Data-4 are not shown in Figures 18-20, as this paper addresses the indoor interiors with perpendicular walls and not curved walls. \begin{table}
\begin{tabular}{c c c c c c c} \hline \hline
**Synthetic Data** & **Floor** & \
\begin{tabular}{c} **Room \&** \\ **Corridor Number** \\ \end{tabular} &
\begin{tabular}{c} **Detected Room \&** \\ **Corridor Number** \\ \end{tabular} & **IoU (\%)** & **DDP (cm)** & **ADR (m2)** \\ \hline \multirow{3}{*}{Synthetic Data-1} & First Floor & 12 & 12 & 96.15 \(\pm\) 0.99 & 5.10 \(\pm\) 1.12 & \(-\)0.12 \(\pm\) 0.11 \\  & Second Floor & 12 & 12 & 96.39 \(\pm\) 1.52 & 6.26 \(\pm\) 1.98 & \(-\)0.16 \(\pm\) 0.15 \\  & Overall & 24 & 24 & 96.27 \(\pm\) 1.29 & 5.68 \(\pm\) 1.71 & \(-\)0.14 \(\pm\) 0.13 \\ \hline \multirow{3}{*}{Synthetic Data-2} & First Floor & 9 & 9 & 96.74 \(\pm\) 3.24 & 10.29 \(\pm\) 3.70 & \(-\)0.18 \(\pm\) 0.25 \\  & Second Floor & 5 & 5 & 97.26 \(\pm\) 1.31 & 9.89 \(\pm\) 3.19 & \(-\)0.19 \(\pm\) 0.30 \\  & Third Floor & 4 & 4 & 96.85 \(\pm\) 1.62 & 10.16 \(\pm\) 2.64 & \(-\)0.19 \(\pm\) 0.18 \\  & Overall & 18 & 18 & 96.91 \(\pm\) 2.71 & 10.4 \(\pm\) 3.35 & \(-\)0.19 \(\pm\) 0.21 \\ \hline \multirow{3}{*}{Synthetic Data-3} & First Floor & 22 & 22 & 96.69 \(\pm\) 0.72 & 4.29 \(\pm\) 0.53 & 0.03 \(\pm\) 0.07 \\  & Second Floor & 15 & 15 & 98.23 \(\pm\) 0.24 & 2.89 \(\pm\) 0.21 & 0.77 \(\pm\) 020 \\  & Overall & 37 & 37 & 97.31 \(\pm\) 0.46 & 3.73 \(\pm\) 0.33 & 0.04 \(\pm\) 0.04 \\ \hline \multirow{3}{*}{Synthetic Data-4} & First Floor & 8 & 8 & 89.87 \(\pm\) 2.05 & 37.37 \(\pm\) 4.62 & 2.29 \(\pm\) 1.01 \\  & Second Floor & 8 & 8 & 84.07 \(\pm\) 2.61 & 45.74 \(\pm\) 5.52 & 4.51 \(\pm\) 0.70 \\  & Overall & 16 & 16 & 86.64 \(\pm\) 1.78 & 41.37 \(\pm\) 3.61 & 3.40 \(\pm\) 1.14 \\ \hline \multirow{3}{*}{Synthetic Data-5} & Overall & 53 & 53 & 94.87 \(\pm\) 0.58 & 9.15 \(\pm\) 1.16 & \(-\)0.03 \(\pm\) 0.18 \\ \cline{2-6}  & First Floor & 27 & 27 & 98.95 \(\pm\) 0.21 & 10.77 \(\pm\) 0.82 & \(-\)0.86 \(\pm\) 0.16 \\ \cline{1-1}  & Second Floor & 13 & 13 & 98.43 \(\pm\) 0.42 & 4.89 \(\pm\) 0.91 & 0.45 \(\pm\) 0.15 \\ \cline{1-1}  & Overall & 40 & 40 & 98.78 \(\pm\) 0.16 & 8.55 \(\pm\) 0.65 & \(-\)0.43 \(\pm\) 0.15 \\ \hline \multirow{3}{*}{Synthetic Data-7} & First Floor & 27 & 27 & 93.37 \(\pm\) 0.71 & 16.58 \(\pm\) 1.25 & \(-\)0.85 \(\pm\) 0.24 \\ \cline{1-1}  & Second Floor & 13 & 13 & 98.78 \(\pm\) 0.16 & 4.89 \(\pm\) 0.91 & 0.45 \(\pm\) 0.15 \\ \cline{1-1}  & Overall & 40 & 40 & 95.01 \(\pm\) 0.61 & 12.17 \(\pm\) 0.95 & \(-\)0.43 \(\pm\) 0.20 \\ \hline \multirow{3}{*}{Synthetic Data-8} & First Floor & 27 & 27 & 98.95 \(\pm\) 0.21 & 10.77 \(\pm\) 0.82 & \(-\)0.86 \(\pm\) 0.16 \\ \cline{1-1}  & Second Floor & 13 & 13 & 90.71 \(\pm\) 3.44 & 39.51 \(\pm\) 11.31 & 1.55 \(\pm\) 0.71 \\ \cline{1-1}  & Overall & 40 & 40 & 96.27 \(\pm\) 1.28 & 21.73 \(\pm\) 4.59 & \(-\)0.08 \(\pm\) 0.31 \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Evaluation metrics (mean \(\pm\) standard deviation). As Table 4 shows, all of the indoor rooms and corridors were reconstructed by using the proposed method. This finding shows that this method is robust in terms of detecting room and corridor numbers. The IoU of each floor was more than 95%, except Synthetic Data-4 and the second floor  
Figure 19: Euclidean distance deviation between corner points (DDP) of rooms and corridors. Each line represents DDPs in different data.