Robot-Assisted After-Process Progress-Monitoring System Based on BIM and Computer Vision

摘要

Progress monitoring is crucial for the construction industry. It directly impacts the construction period and affects project cost and quality. A lot of previous research focused on in-process progress monitoring. They compared the point cloud of the main structure with the BIM model to check the gap between as-built and as-planned status. This article proposes a BIM-based after-process progress monitoring system based on a visual method. It aims at indoor components after the main structure built. The robot can navigate to the installation sites automatically on a BIM-generated map and check the status of components. We propose a novel and lightweight method for object recognition and estimation of the three-dimensional position of objects relative to BIM coordinate. It is realized by RGB-D camera and deep learning. The semantic and geometric information of BIM is utilized to filter out false recognition of deep learning. The final detection results are compared with BIM to generate a progress-monitoring report. Finally, we build a real robot and check the installation status of four components in a corridor. And all the components are checked successfully.