Automatic Scan Planning and Construction Progress Monitoring in Unknown Building Scene

摘要

Today, the monitoring of construction progress and construction quality is mainly done manually, which is time-consuming and labor-intensive. This paper proposes a method to obtain the point cloud of the current construction scene by a mobile robot equipped with a 3D laser scanner in an unknown construction scene. Based on the BIM model of a building structure, a robot can automatically complete the full coverage scan although the environment is not exactly known due to the lack of the information on how the construction has progressed. We have verified the effectiveness of the method proposed in this paper through multiple experiments in simulation, laboratory building and construction site.