Development of Kinematic 3D Laser Scanning System for Indoor Mapping and As-Built BIM Using Constrained SLAM
The growing interest and use of indoor mapping is driving a demand for improved data-acquisition facility, efficiency and productivity in the era of the Building Information Model (BIM). The conventional static laser scanning method suffers from some limitations on its operability in complex indoor...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2015-10-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/15/10/26430 |
| _version_ | 1828395957568405504 |
|---|---|
| author | Jaehoon Jung Sanghyun Yoon Sungha Ju Joon Heo |
| author_facet | Jaehoon Jung Sanghyun Yoon Sungha Ju Joon Heo |
| author_sort | Jaehoon Jung |
| collection | DOAJ |
| description | The growing interest and use of indoor mapping is driving a demand for improved data-acquisition facility, efficiency and productivity in the era of the Building Information Model (BIM). The conventional static laser scanning method suffers from some limitations on its operability in complex indoor environments, due to the presence of occlusions. Full scanning of indoor spaces without loss of information requires that surveyors change the scanner position many times, which incurs extra work for registration of each scanned point cloud. Alternatively, a kinematic 3D laser scanning system, proposed herein, uses line-feature-based Simultaneous Localization and Mapping (SLAM) technique for continuous mapping. Moreover, to reduce the uncertainty of line-feature extraction, we incorporated constrained adjustment based on an assumption made with respect to typical indoor environments: that the main structures are formed of parallel or orthogonal line features. The superiority of the proposed constrained adjustment is its reduction for uncertainties of the adjusted lines, leading to successful data association process. In the present study, kinematic scanning with and without constrained adjustment were comparatively evaluated in two test sites, and the results confirmed the effectiveness of the proposed system. The accuracy of the 3D mapping result was additionally evaluated by comparison with the reference points acquired by a total station: the Euclidean average distance error was 0.034 m for the seminar room and 0.043 m for the corridor, which satisfied the error tolerance for point cloud acquisition (0.051 m) according to the guidelines of the General Services Administration for BIM accuracy. |
| first_indexed | 2024-12-10T08:20:49Z |
| format | Article |
| id | doaj.art-2729a558a301472c81c2ee85b8fcbe92 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-12-10T08:20:49Z |
| publishDate | 2015-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-2729a558a301472c81c2ee85b8fcbe922022-12-22T01:56:20ZengMDPI AGSensors1424-82202015-10-011510264302645610.3390/s151026430s151026430Development of Kinematic 3D Laser Scanning System for Indoor Mapping and As-Built BIM Using Constrained SLAMJaehoon Jung0Sanghyun Yoon1Sungha Ju2Joon Heo3School of Civil and Environmental Engineering, College of Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, KoreaSchool of Civil and Environmental Engineering, College of Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, KoreaSchool of Civil and Environmental Engineering, College of Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, KoreaSchool of Civil and Environmental Engineering, College of Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 120-749, KoreaThe growing interest and use of indoor mapping is driving a demand for improved data-acquisition facility, efficiency and productivity in the era of the Building Information Model (BIM). The conventional static laser scanning method suffers from some limitations on its operability in complex indoor environments, due to the presence of occlusions. Full scanning of indoor spaces without loss of information requires that surveyors change the scanner position many times, which incurs extra work for registration of each scanned point cloud. Alternatively, a kinematic 3D laser scanning system, proposed herein, uses line-feature-based Simultaneous Localization and Mapping (SLAM) technique for continuous mapping. Moreover, to reduce the uncertainty of line-feature extraction, we incorporated constrained adjustment based on an assumption made with respect to typical indoor environments: that the main structures are formed of parallel or orthogonal line features. The superiority of the proposed constrained adjustment is its reduction for uncertainties of the adjusted lines, leading to successful data association process. In the present study, kinematic scanning with and without constrained adjustment were comparatively evaluated in two test sites, and the results confirmed the effectiveness of the proposed system. The accuracy of the 3D mapping result was additionally evaluated by comparison with the reference points acquired by a total station: the Euclidean average distance error was 0.034 m for the seminar room and 0.043 m for the corridor, which satisfied the error tolerance for point cloud acquisition (0.051 m) according to the guidelines of the General Services Administration for BIM accuracy.http://www.mdpi.com/1424-8220/15/10/26430SLAMlaser scannerpoint cloudsline featureconstrained least squares adjustment |
| spellingShingle | Jaehoon Jung Sanghyun Yoon Sungha Ju Joon Heo Development of Kinematic 3D Laser Scanning System for Indoor Mapping and As-Built BIM Using Constrained SLAM Sensors SLAM laser scanner point clouds line feature constrained least squares adjustment |
| title | Development of Kinematic 3D Laser Scanning System for Indoor Mapping and As-Built BIM Using Constrained SLAM |
| title_full | Development of Kinematic 3D Laser Scanning System for Indoor Mapping and As-Built BIM Using Constrained SLAM |
| title_fullStr | Development of Kinematic 3D Laser Scanning System for Indoor Mapping and As-Built BIM Using Constrained SLAM |
| title_full_unstemmed | Development of Kinematic 3D Laser Scanning System for Indoor Mapping and As-Built BIM Using Constrained SLAM |
| title_short | Development of Kinematic 3D Laser Scanning System for Indoor Mapping and As-Built BIM Using Constrained SLAM |
| title_sort | development of kinematic 3d laser scanning system for indoor mapping and as built bim using constrained slam |
| topic | SLAM laser scanner point clouds line feature constrained least squares adjustment |
| url | http://www.mdpi.com/1424-8220/15/10/26430 |
| work_keys_str_mv | AT jaehoonjung developmentofkinematic3dlaserscanningsystemforindoormappingandasbuiltbimusingconstrainedslam AT sanghyunyoon developmentofkinematic3dlaserscanningsystemforindoormappingandasbuiltbimusingconstrainedslam AT sunghaju developmentofkinematic3dlaserscanningsystemforindoormappingandasbuiltbimusingconstrainedslam AT joonheo developmentofkinematic3dlaserscanningsystemforindoormappingandasbuiltbimusingconstrainedslam |