BIM-based scan planning for scanning with a quadruped walking robot: Fid-Bau Portal

BIM-based scan planning for scanning with a quadruped walking robot

Park, Sangyoon / Yoon, Sanghyun / Ju, Sungha / Heo, Joon

Abstract Scan positioning for documenting the geometry of an existing building still relies on the experience of an expert surveyor. Therefore, it is important to utilize optimal scan positioning for an automated scanning process with an autonomous robot platform. This study presents an automated framework to determine the optimal scan planning for a stop-and-go mapping procedure with a quadruped walking robot based on BIM. The proposed framework comprises four main phases: Generation of scan-position candidates; optimal scan positioning; ordering of the optimal scan positions; data collection with an autonomous scanning system. The experimental results showed that the proposed framework presented better performance than those of the conventional approaches. Furthermore, the number of scan positions and the scan operation time were significantly reduced compared with manual scanning by skilled surveyors in real-world indoor environments. A future work will focus on an automated registration process and enhancement of computational performance.

Highlights • A BIM-based scan planning framework is developed for an automated scanning System. • Triangular mesh-based 3D visibility analysis is conducted for optimal scan positioning. • Optimization of scan order for the efficiency of the autonomous robot scanning operation. • A quadruped walking robot is used for autonomous scanning system to substantiate the proposed scan planning result.