Towards the automatic scanning of indoors with robots

Area of Science:

• Robotics
• Computer Vision
• 3D Data Processing

Background:

• Developing automated methods for 3D indoor modeling is crucial for various applications.
• Existing techniques often require manual intervention or lack autonomous navigation capabilities.

Purpose of the Study:

• To develop techniques for automatic creation of simple 3D indoor models using mobile robots.
• To enable autonomous navigation and intelligent data acquisition for 3D scanning.

Main Methods:

• A mobile robot equipped with a 3D scanner autonomously navigates indoor environments.
• The robot makes decisions on optimal scanner positions based on collected scan data.
• Intelligent data acquisition and processing convert raw 3D point clouds into simplified models.

Main Results:

• The system successfully performed intelligent data acquisition and autonomous navigation.
• Millions of 3D data points were processed into simplified 3D indoor models.
• Promising results were achieved during real-world indoor testing.

Conclusions:

• The developed system demonstrates the feasibility of automated 3D indoor model creation using mobile robots.
• The approach shows potential for efficient and autonomous 3D data capture.
• Future work will focus on extending the method to more complex and larger scenarios.