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.
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TL;DR: The experimental results, based on indoor mapping for as-built BIM, show that the proposed framework for a 3D underground cadastral system is able to register the rights, responsibilities, and restrictions corresponding to the3D underground properties.
Abstract: The cadastral system provides land ownership information by registering and representing land boundaries on a map. The current cadastral system in Korea, however, focuses mainly on the management of 2D land-surface boundaries. It is not yet possible to provide efficient or reliable land administration, as this 2D system cannot support or manage land information on 3D properties (including architectures and civil infrastructures) for both above-ground and underground facilities. A geometrical model of the 3D parcel, therefore, is required for registration of 3D properties. This paper, considering the role of the cadastral system, proposes a framework for a 3D underground cadastral system that can register various types of 3D underground properties using indoor mapping for as-built Building Information Modeling (BIM). The implementation consists of four phases: (1) geometric modeling of a real underground infrastructure using terrestrial laser scanning data; (2) implementation of as-built BIM based on geometric modeling results; (3) accuracy assessment for created as-built BIM using reference points acquired by total station; and (4) creation of three types of 3D underground cadastral map to represent underground properties. The experimental results, based on indoor mapping for as-built BIM, show that the proposed framework for a 3D underground cadastral system is able to register the rights, responsibilities, and restrictions corresponding to the 3D underground properties. In this way, clearly identifying the underground physical situation enables more reliable and effective decision-making in all aspects of the national land administration system.
24 citations
Cites background from "Automatic reconstruction of as-buil..."
...These tasks do not have to be sequential; the sequence will depend on the workflow [49]....
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TL;DR: A base model extracted from proposed intermediate models for the information exchange between IFC/BIM and CityGML is combined into one “core model” that is as simple as possible, while simultaneously containing all important elements.
Abstract: Buildings have a multifunctional character, which makes it hard to define just one model for all their diverse functions. As these diverse functions are addressed by actors of different perspectives and domain backgrounds, the possibility to exchange available building information would be desirable. Two main models for the creation of building information are Industry Foundation Classes/Building Information Modelling (IFC/BIM) and City Geography Markup Language (CityGML). As the importance of information interchange has been recognized, several authors have tried to develop intermediate models for the information exchange between IFC/BIM and CityGML, e.g., the Unified Building Model (UBM), the BIM Oriented Indoor data Model (BO-IDM), the Indoor Emergency Spatial Model (IESM) and the BIM-GIS integration model for Flood Damage Assessment (FDA model). Nevertheless, all these models have been created with a certain use in mind. Our focus in this article is to identify common elements amongst these proposed models and to combine them into one “core model” that is as simple as possible, while simultaneously containing all important elements. Furthermore, this base model extracted from proposed intermediate models can then be expanded to serve specific use requirements, while still being exchangeable. To show this cross-domain character of the core model, we validated the resulting model with two cases of use (production environment/maintenance and 3D digital cadaster).
23 citations
TL;DR: A method is presented to automatically reconstruct consistent wall geometry from point clouds using room information to aid the wall topology creation and it is proved that the used method is a reliable framework for wall reconstruction from unstructured point cloud data.
Abstract: . The automated reconstruction of Building Information Modeling (BIM) objects from point cloud data is still ongoing research. A key aspect is the creation of accurate wall geometry as it forms the basis for further reconstruction of objects in a BIM. After segmenting and classifying the initial point cloud, the labelled segments are processed and the wall topology is reconstructed. However, the preocedure is challenging due to noise, occlusions and the complexity of the input data. In this work, a method is presented to automatically reconstruct consistent wall geometry from point clouds. More specifically, the use of room information is proposed to aid the wall topology creation. First, a set of partial walls is constructed based on classified planar primitives. Next, the rooms are identified using the retrieved wall information along with the floors and ceilings. The wall topology is computed by the intersection of the partial walls conditioned on the room information. The final wall geometry is defined by creating IfcWallStandardCase objects conform the IFC4 standard. The result is a set of walls according to the as-built conditions of a building. The experiments prove that the used method is a reliable framework for wall reconstruction from unstructured point cloud data. Also, the implementation of room information reduces the rate of false positives for the wall topology. Given the walls, ceilings and floors, 94% of the rooms is correctly identified. A key advantage of the proposed method is that it deals with complex rooms and is not bound to single storeys.
23 citations
Cites background from "Automatic reconstruction of as-buil..."
...The interpretation of this data is challenging due to the number of points, noise and the complexity of the structure (Tang et al., 2010)....
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TL;DR: An accurate and efficient approach for 3D data registration based on Iterative Closest Point (ICP) algorithm is proposed, which takes advantage of the color data acquired along with range data.
Abstract: Laser range sensors are playing an increased role in construction. These devices are used to collect a large number of points from different locations and then, those points are registered in a common framework. This article describes a new procedure for the registration of point clouds, especially suited to the fields of architecture and cultural heritage. Often, in these fields, the registration of point clouds is subject to errors due to the fact that an important number of points do not lie on particular geometric features. In this article, an accurate and efficient approach for 3D data registration based on Iterative Closest Point (ICP) algorithm is proposed, which takes advantage of the color data acquired along with range data. Points suitable for registration are selected according to their local geometry and/or color properties, thus a significant improvement on performance convergence and processing time is obtained. The algorithm performs an automatic, on-the-flight estimation of the overlapping region, taking into account possible color differences produced by lighting changes through the measurement process. The proposed approach has been tested on real scanned data from cultural heritage buildings and compared to other approaches, showing a better performance in terms of automation degree, accuracy, and speed.
23 citations
Cites background from "Automatic reconstruction of as-buil..."
...Application contexts for these devices range from industrial modeling, road inspection (Cai and Rasdorf, 2007), and leisure and medicine, to construction (Park et al., 2007) and heritage (Cheok et al., 2006; Tang et al., 2010; Arias et al., 2007)....
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18 Jun 2015
TL;DR: The process of implementation of an efficient framework for as-built Building Information Modelling (BIM) using a new Scan Station that enables contractors to acquire accurate data and create and update the asbuilt models is presented.
Abstract: Recent studies show a great potential of improving construction productivity through using real-time applications to measure change orders and other objects to create as-built. As an enhancement to this promising concept, this paper presents the process of implementation of an efficient framework for as-built Building Information Modelling (BIM) using a new Scan Station that enables contractors to acquire accurate data and create and update the asbuilt models. A novel framework designed and assisted in the conversion of the raw 3D point cloud data from a laser scanner positioned at multiple locations of a facility into a compact and semantically rich model. The result of the study was compared with two other as-built models using mobile and terrestrial lidar scanners to understand the capability of each for building information modelling. It was found that the framework using the new Scan Station has a great potential to collect accurate data that can be transferred to BIM for creating as-built models. The results show that the accuracy of fine objects’ dimensions varies from -2% to +2%. The comparison of the test results with our previous experiments using different scanners shows that every scanner has its own advantage for each job in construction.
23 citations
Cites background or methods from "Automatic reconstruction of as-buil..."
...Lidar is a laser imaging technology that is increasingly employed for capturing scenes with millimetre to centimetre accuracy....
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...Keywords – Implementation, lidar, Construction technology, Building Information Modelling; laser scanner....
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...Table 1 shows some of limitations of photogrammetry methods for collecting data for as-built creation....
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...Recently, researchers try to use photogrammetry techniques to produce digital and parametric data for as-built information modelling....
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References
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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
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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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
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...Various researchers have proposed candidate sets of primitives, such as geons [9], superquadrics [3], and generalized cylinders [10]....
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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
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
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