Fig 1.
Custom made rover based 3D laser scanning and mapping system.
Fig 2.
The block diagram of the overall mechanism of the 3D scanning and mapping system.
Fig 3.
The robotic mapping platforms (left) an assistive mobile robot equipped with 2D Hokuyo laser scanners (right) an industrial mobile robot equipped with 2D RPLidar laser scanner.
Table 1.
Specifications of selected robotic mapping platforms.
Fig 4.
RPLidar scans (left) normal scan (middle) segmented scan (right) enhanced scan.
Fig 5.
The custom made rover (left) CAD model (right) the fabricated system.
Fig 6.
The block diagram of the instrumentation scheme.
Fig 7.
The simulated rover surveying (left) rover navigation inside simulated lab (right) visualization of scans.
Fig 8.
The mapping of the simulated lab (left) 2D pose and map of the lab (right) 3D point cloud map.
Fig 9.
The extraction of structural planes (left) the point cloud map without ceiling (middle) wall (right) pillars.
Fig 10.
The processing of point cloud map (left) the point cloud map loaded in Revit software (right) the structural entities placement on point cloud map.
Fig 11.
The BIM development (left) 2D floor plan of the lab (right) 3D model of the lab.
Fig 12.
The mapping of the physical lab (left) the rover exploration inside the lab (right) the developed 3D point cloud map.
Fig 13.
The extraction of structural planes (left) the ceiling (middle) the left wall (right) pillars.
Fig 14.
The processing of point cloud map (left) the point cloud map loaded in Revit software (right) the structural entities placement on point cloud map.
Fig 15.
The BIM development (left) 2D floor plan of the lab (right) 3D model of the lab.
Fig 16.
The BIM comparison (left) design to As-Built matching (right) enhanced 3D model of the lab.
Table 2.
Comparison of the dimensions of the lab.
Fig 17.
The corridor mapping (left) the rover exploration inside the corridor (right) the developed 3D point cloud map.
Fig 18.
The extraction of structural planes (left) the ceiling (middle) left wall (right) right wall.
Fig 19.
The processing of point cloud map (left) the point cloud map loaded in Revit software (right) the structural entities placement on point cloud map.
Fig 20.
The BIM development (left) 2D floor plan of the corridor (middle) 3D model (right) 3D printed sample.
Table 3.
Comparison of the dimensions of the corridor.
Fig 21.
The mapping of the construction site (left) the rover exploration inside the vicinity (right) the developed 3D point cloud map.
Fig 22.
The processing of point cloud map (left) the ceiling plane extraction (right) the loading of point cloud map in Revit.
Fig 23.
The BIM development (left) 2D floor plan (right) 3D model.
Table 4.
Comparison of the dimensions of the construction site.