Sofa bed / pull-out bed in the out position for sleeping. Not detailed instructions, but gives photos of the process. This one is small for a camper van, but could make a large version for living room.
Move over hide-a-bed, pull-out couch-beds: get stuffed. The Doc is a simply named convertible sofa that expands into not one but two beds in one: a pair of bunk beds as simple and elegant as the name would suggest. This would be great for a guest room.