Recent developments in laser scanning systems have inspired substantial interest in indoor modeling. Semantically rich indoor models are required in many fields. Despite the rapid development of 3D indoor reconstruction methods for building interiors from point clouds, the indoor reconstruction of multi-room environments with curved walls is still not resolved. This study proposed a novel straight and curved line tracking method followed by a straight line test. Robust parameters are used, and a novel straight line regularization method is achieved using constrained least squares. The method constructs a cell complex with both straight lines and curved lines, and the indoor reconstruction is transformed into a labeling problem that is solved based on a novel Markov Random Field formulation. The optimal labeling is found by minimizing an energy function by applying a minimum graph cut approach. Detailed experiments were conducted, and the results indicate that the proposed method is well suited for 3D indoor modeling in multi-room indoor environments with curved walls.