Point cloud filtering

A system for determining facility information using point cloud data, the system comprising:

• a storage facility comprising walls, ceilings, vertical poles, and racks, the storage facility being configured to store pallets in one or more locations defined by at least the vertical poles and the racks;
• at least one imaging device positioned within the storage facility, wherein the at least one imaging device is configured to capture image data of a physical space within the storage facility;
• and
• a computing system in network communication with the at least one imaging device, the computing system comprising one or more processors and memory to map the storage facility and determine facility information based on the image data captured by the at least one imaging device, wherein the one or more processors are configured to execute operations comprising:
• receiving, from the at least one imaging device, the image data of a facility;
• generating point cloud data from the image data, wherein the point cloud data comprises a plurality of points in three-dimensional (“3D”) space that approximate locations of physical surfaces within the storage facility;
• filtering the plurality of points in the point cloud data to (i) keep points in the point cloud data that correspond to contours of particular types of the physical surfaces within the storage facility and (ii) remove points from the point cloud data that do not correspond to the contours of the particular types of the physical surfaces within the storage facility;
• generating a map of the storage facility based at least in part on the points in the point cloud data that correspond to the contours of the particular types of the physical surfaces within the storage facility;
• determining, by the computing system, facility information based on the generated map, the facility information comprising a size of the storage facility;
• and
• returning, by the computing system, the facility information.