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Journal ArticleDOI

Automatic reconstruction of as-built building information models from laser-scanned point clouds: A review of related techniques

TL;DR: This article surveys techniques developed in civil engineering and computer science that can be utilized to automate the process of creating as-built BIMs and outlines the main methods used by these algorithms for representing knowledge about shape, identity, and relationships.
About: This article is published in Automation in Construction.The article was published on 2010-11-01. It has received 789 citations till now. The article focuses on the topics: Information model & Computer Aided Design.
Citations
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Patent
Matthew Lafary1, George V. Paul1
25 Jan 2013
TL;DR: In this paper, a negative obstacle avoidance system for mobile robots is presented, where the robot is able to detect and avoid negative obstacles, such as gaps or holes in the floor, or a flight of stairs in a physical environment.
Abstract: Embodiments of the present invention provide methods and systems for ensuring that mobile robots are able to detect and avoid negative obstacles, such as gaps or holes in the floor, or a flight of stairs in a physical environment that are typically hard to detect because the obstacles do not exist in the same plane or planes as the mobile robot's horizontally-oriented obstacle detecting lasers. Thus, the invention provides negative obstacle avoidance systems for mobile robots.

2 citations

Journal ArticleDOI
TL;DR: In this article , a semi-automatic method for the estimation of the structural structure of 3D structures composed of trusses and beams using an indoor point cloud is presented. But the method is limited to the case of wooden roofs.

2 citations

Dissertation
01 Jan 2019
TL;DR: Leica C10 is suitable for industrial construction and supports QLASSIC standards, says this study.
Abstract: Measuring and generating a three-dimensional (3D) model using laser scanning techniques is increasingly common in various fields because laser scanners can produce a large number of observation points in a short time. This study focuses on data acquisition using Leica C10 laser scanner and 3D modeling using Autodesk Revit software for construction industry and that which is in accordance to QLASSIC standards. Leica C10 is known as a long distance laser scanner that is suitable for collecting data of large objects while Autodesk Revit is a software for generating 3D models using laser scanner data for construction industry. Two building structures namely precast concrete and cast-in-situ concrete were used in this study. The crucial procedure before data collection was to ensure that the station of laser scanner allowed at least three black/white targets to be viewed for registration purposes. For the analysis, the distance measured between design model and measuring tape, and distance measured between design model and 3D model from the laser scanner were compared. To support QLASSIC, the difference should not exceed ± 10mm. The results of the study for the precast concrete show that the value of RMSE between the design model and the 3D model from the laser scanner is 2.972mm while for the design model and the measuring tape is 14mm. For cast-in-situ concrete, the Root Mean Square Error (RMSE) value between the design model and the 3D model from the laser scanner is 3.346mm while the RMSE value between the design model and the measuring tape is 14.823mm. The results of the analysis indicate that the measured distance between the design model and the 3D model from the laser scanner is in accordance with the permissible accuracy in QLASSIC standard. The flatness percentage analysis was also performed for cast-in-situ concrete. While the QLASSIC standard for flatness percentage analysis is set at 70%, the flatness percentage analysis for cast-in-situ concrete between design model and the 3D model from the laser scanner is 79.5%. In conclusion, Leica C10 is suitable for industrial construction and supports QLASSIC standards.

2 citations


Cites background from "Automatic reconstruction of as-buil..."

  • ...scan objects and areas at a distance (Tang et al., 2010)....

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  • ...However, for complex surfaces and geometry, the contact method gives unsatisfactory results (Tang et al., 2010)....

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  • ...The users of terrestrial laser scanning are very impressed with the speed of captured information, the ability to conceptualize survey projects in 3D, its ability to 2 scan objects and areas at a distance (Tang et al., 2010)....

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Journal ArticleDOI
TL;DR: Li et al. as discussed by the authors compared the image-based 3D reconstruction technique and the terrestrial LiDAR in point of establishing the as-built BIM of outdoor structures, and they showed that the imagebased reconstruction can be used in drawing building footprint and wireframe.
Abstract: 【With the increasing demands of 3D spatial information in urban environment, the importance of point clouds generation techniques have been increased. In particular, for as-built BIM, the point clouds with the high accuracy and density is required to describe the detail information of building components. Since the terrestrial LiDAR has high performance in terms of accuracy and point density, it has been widely used for as-built 3D modelling. However, the high cost of devices is obstacle for general uses, and the image-based 3D reconstruction technique is being a new attraction as an alternative solution. This paper compares the image-based 3D reconstruction technique and the terrestrial LiDAR in point of establishing the as-built BIM of outdoor structures. The point clouds generated from the image-based 3D reconstruction technique could roughly present the 3D shape of a building, but could not precisely express detail information, such as windows, doors and a roof of building. There were 13.2~28.9 cm of RMSE between the terrestrial LiDAR scanning data and the point clouds, which generated from smartphone and DSLR camera images. In conclusion, the results demonstrate that the image-based 3D reconstruction can be used in drawing building footprint and wireframe, and the terrestrial LiDAR is suitable for detail 3D outdoor modeling.】

2 citations

References
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Journal ArticleDOI
TL;DR: New results are derived on the minimum number of landmarks needed to obtain a solution, and algorithms are presented for computing these minimum-landmark solutions in closed form that provide the basis for an automatic system that can solve the Location Determination Problem under difficult viewing.
Abstract: A new paradigm, Random Sample Consensus (RANSAC), for fitting a model to experimental data is introduced. RANSAC is capable of interpreting/smoothing data containing a significant percentage of gross errors, and is thus ideally suited for applications in automated image analysis where interpretation is based on the data provided by error-prone feature detectors. A major portion of this paper describes the application of RANSAC to the Location Determination Problem (LDP): Given an image depicting a set of landmarks with known locations, determine that point in space from which the image was obtained. In response to a RANSAC requirement, new results are derived on the minimum number of landmarks needed to obtain a solution, and algorithms are presented for computing these minimum-landmark solutions in closed form. These results provide the basis for an automatic system that can solve the LDP under difficult viewing

23,396 citations

Journal ArticleDOI
TL;DR: This paper has designed a stand-alone, flexible C++ implementation that enables the evaluation of individual components and that can easily be extended to include new algorithms.
Abstract: Stereo matching is one of the most active research areas in computer vision. While a large number of algorithms for stereo correspondence have been developed, relatively little work has been done on characterizing their performance. In this paper, we present a taxonomy of dense, two-frame stereo methods designed to assess the different components and design decisions made in individual stereo algorithms. Using this taxonomy, we compare existing stereo methods and present experiments evaluating the performance of many different variants. In order to establish a common software platform and a collection of data sets for easy evaluation, we have designed a stand-alone, flexible C++ implementation that enables the evaluation of individual components and that can be easily extended to include new algorithms. We have also produced several new multiframe stereo data sets with ground truth, and are making both the code and data sets available on the Web.

7,458 citations


"Automatic reconstruction of as-buil..." refers background in this paper

  • ...In other fields, such as computer vision, standard test sets and performance metrics have been established [72,83], but no standard evaluation metrics have been established for as-built BIM creation as yet....

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Journal ArticleDOI
TL;DR: Recognition-by-components (RBC) provides a principled account of the heretofore undecided relation between the classic principles of perceptual organization and pattern recognition.
Abstract: The perceptual recognition of objects is conceptualized to be a process in which the image of the input is segmented at regions of deep concavity into an arrangement of simple geometric components, such as blocks, cylinders, wedges, and cones. The fundamental assumption of the proposed theory, recognition-by-components (RBC), is that a modest set of generalized-cone components, called geons (N £ 36), can be derived from contrasts of five readily detectable properties of edges in a two-dimensiona l image: curvature, collinearity, symmetry, parallelism, and cotermination. The detection of these properties is generally invariant over viewing position an$ image quality and consequently allows robust object perception when the image is projected from a novel viewpoint or is degraded. RBC thus provides a principled account of the heretofore undecided relation between the classic principles of perceptual organization and pattern recognition: The constraints toward regularization (Pragnanz) characterize not the complete object but the object's components. Representational power derives from an allowance of free combinations of the geons. A Principle of Componential Recovery can account for the major phenomena of object recognition: If an arrangement of two or three geons can be recovered from the input, objects can be quickly recognized even when they are occluded, novel, rotated in depth, or extensively degraded. The results from experiments on the perception of briefly presented pictures by human observers provide empirical support for the theory. Any single object can project an infinity of image configurations to the retina. The orientation of the object to the viewer can vary continuously, each giving rise to a different two-dimensional projection. The object can be occluded by other objects or texture fields, as when viewed behind foliage. The object need not be presented as a full-colored textured image but instead can be a simplified line drawing. Moreover, the object can even be missing some of its parts or be a novel exemplar of its particular category. But it is only with rare exceptions that an image fails to be rapidly and readily classified, either as an instance of a familiar object category or as an instance that cannot be so classified (itself a form of classification).

5,464 citations


"Automatic reconstruction of as-buil..." refers background in this paper

  • ...Various researchers have proposed candidate sets of primitives, such as geons [9], superquadrics [3], and generalized cylinders [10]....

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Journal ArticleDOI
TL;DR: Two of the most critical requirements in support of producing reliable face-recognition systems are a large database of facial images and a testing procedure to evaluate systems.
Abstract: Two of the most critical requirements in support of producing reliable face-recognition systems are a large database of facial images and a testing procedure to evaluate systems. The Face Recognition Technology (FERET) program has addressed both issues through the FERET database of facial images and the establishment of the FERET tests. To date, 14,126 images from 1,199 individuals are included in the FERET database, which is divided into development and sequestered portions of the database. In September 1996, the FERET program administered the third in a series of FERET face-recognition tests. The primary objectives of the third test were to 1) assess the state of the art, 2) identify future areas of research, and 3) measure algorithm performance.

4,816 citations

Proceedings ArticleDOI
01 Aug 1996
TL;DR: This paper presents a volumetric method for integrating range images that is able to integrate a large number of range images yielding seamless, high-detail models of up to 2.6 million triangles.
Abstract: A number of techniques have been developed for reconstructing surfaces by integrating groups of aligned range images. A desirable set of properties for such algorithms includes: incremental updating, representation of directional uncertainty, the ability to fill gaps in the reconstruction, and robustness in the presence of outliers. Prior algorithms possess subsets of these properties. In this paper, we present a volumetric method for integrating range images that possesses all of these properties. Our volumetric representation consists of a cumulative weighted signed distance function. Working with one range image at a time, we first scan-convert it to a distance function, then combine this with the data already acquired using a simple additive scheme. To achieve space efficiency, we employ a run-length encoding of the volume. To achieve time efficiency, we resample the range image to align with the voxel grid and traverse the range and voxel scanlines synchronously. We generate the final manifold by extracting an isosurface from the volumetric grid. We show that under certain assumptions, this isosurface is optimal in the least squares sense. To fill gaps in the model, we tessellate over the boundaries between regions seen to be empty and regions never observed. Using this method, we are able to integrate a large number of range images (as many as 70) yielding seamless, high-detail models of up to 2.6 million triangles.

3,282 citations


"Automatic reconstruction of as-buil..." refers background in this paper

  • ...Non-parametric geometricmodeling reconstructs a surface, typically in the formof a triangle mesh [41], or a volume [18]....

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