I. Introduction
Nowadays, an increasing interest is devoted to modeling and simulation of indoor channels. Ray tracing (RT) serves as a widely used method of predicting indoor channels. In the current ray tracing algorithm, indoor objects, such as walls, ceilings, and floors, are modeled as large, closed dielectric slabs, windows and doors are modeled as attachments on the walls, and indoor objects such as tables and sofas are modeled as boxes[1], what we need to do is getting the location and size of indoor objects, it is obvious that the method's accuracy depends on the level of environmental model's precision[2]. Laser scanning can completely restore the characteristics of indoor scenes through point cloud data, and is a good method to model indoor environments[3].