Constructing relative spatial relationships of large-area objects using time-of-flight sensing and achieving...

3D scanning can construct comprehensive information about objects. However, scanning scenes at the meter scale is costly and inefficient. For large-area objects with distinctive physical attributes or tasks emphasizing internal relational mapping, there is value in taking a few sampling points to establish the relative relationships of objects. In this work, we used a time-of-flight camera for point data construction, demonstrating the use of the method on a wall. Meanwhile, a method to achieve a multi-dimensional assessment of wall flatness using relative relationships with only one acquisition is demonstrated, which has the potential for applications integrated with robotic construction.