Compact rover surveying and laser scanning for BIM development

Jafri, Syed Riaz un Nabi; Hussain, Syed Murtaza; Ahmed, Asif; Rizvi, Syed Asher Hussain; Kazmi, Kumayl Hassan; Iqbal, Jamshed

Abstract

This paper presents a custom made small rover based surveying, mapping and building information modeling solution. Majority of the commercially available mobile surveying systems are larger in size which restricts their maneuverability in the targeted indoor vicinities. Furthermore their functional cost is unaffordable for low budget projects belonging to developing markets. Keeping in view these challenges, an economical indigenous rover based scanning and mapping system has developed using orthogonal integration of two low cost RPLidar A1 laser scanners. All the instrumentation of the rover has been interfaced with Robot Operating System (ROS) for online processing and recording of all sensorial data. The ROS based pose and map estimations of the rover have performed using Simultaneous Localization and Mapping (SLAM) technique. The perceived class 1 laser scans data belonging to distinct vicinities with variable reflective properties have been successfully tested and validated for required structural modeling. Systematically the recorded scans have been used in offline mode to generate the 3D point cloud map of the surveyed environment. Later the structural planes extraction from the point cloud data has been done using Random Sampling and Consensus (RANSAC) technique. Finally the 2D floor plan and 3D building model have been developed using point cloud processing in appropriate software. Multiple interiors of existing buildings and under construction indoor sites have been scanned, mapped and modelled as presented in this paper. In addition, the validation of the as-built models have been performed by comparing with the actual architecture design of the surveyed buildings. In comparison to available surveying solutions present in the local market, the developed system has been found faster, accurate and user friendly to produce more enhanced structural results with minute details.

Citation

Jafri, S. R. U. N., Hussain, S. M., Ahmed, A., Rizvi, S. A. H., Kazmi, K. H., & Iqbal, J. (2024). Compact rover surveying and laser scanning for BIM development. PLoS ONE, 19(3 March), Article e0301273. https://doi.org/10.1371/journal.pone.0301273

• Journal Article Type: Article
• Acceptance Date: Mar 18, 2024
• Online Publication Date: Mar 28, 2024
• Publication Date: Mar 1, 2024
• Deposit Date: Mar 19, 2024
• Publicly Available Date: Apr 2, 2024
• Journal: PLoS ONE
• Print ISSN: 1932-6203
• Electronic ISSN: 1932-6203
• Publisher: Public Library of Science
• Peer Reviewed: Peer Reviewed
• Volume: 19
• Issue: 3 March
• Article Number: e0301273
• DOI: https://doi.org/10.1371/journal.pone.0301273
• Public URL: https://hull-repository.worktribe.com/output/4606793