紧型漫游车测量和激光扫描用于BIM开发
Syed Riaz Un Nabi Jafri1, Syed Murtaza Hussain2, Asif Ahmed2
1Department of Electronic Engineering, NED University of Engineering and Technology, Karachi, Pakistan.
PloS one
|March 28, 2024
概括
一个低成本,定制制造的探测器系统提供了高效的室内测量和绘图. 该解决方案为发展中市场提供准确的3D建筑模型,克服了更大,更昂贵的商业替代品的局限性.
科学领域:
- 机器人和自动化 机器人和自动化
- 地理学工程 工程地质学
- 计算机视觉 计算机视觉
背景情况:
- 商业上可用的移动测量系统通常很大,限制了室内机动性.
- 现有系统的高成本阻碍了发展中国家市场的采用.
- 需要一个经济和灵活的解决方案,用于室内测量和建筑信息建模 (BIM).
研究的目的:
- 为室内测量,绘图和BIM开发一种经济,本土的基于探测器的系统.
- 与商业测量解决方案相比,提高机动性和降低成本.
- 为了验证系统的准确性和用户友好性,用于结构建模.
主要方法:
- 两个低成本的RPLidar A1激光扫描仪在定制漫游车上的直角集成.
- 接口仪器与机器人操作系统 (ROS) 进行数据处理.
- 使用同时定位和映射 (SLAM) 进行姿势和地图估计.
- 使用随机抽样和共识 (RANSAC) 来从3D点云中提取结构平面.
主要成果:
- 成功扫描,映射和3D建模各种室内环境.
- 从处理的点云数据生成2D地图和3D建筑模型.
- 与原始建筑设计对现成模型的验证,以确认准确性.
- 与当地市场替代品相比,表现出更快,更准确和更易于使用的结果.
结论:
- 开发的基于漫游器的系统为室内测量和BIM提供了有效和负担得起的解决方案.
- 该系统克服了与商业测量设备相关的尺寸和成本限制.
- 提供增强的结构性结果,以微小的细节,适合低预算项目和发展中市场.
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