Development of kinematic 3D laser scanning system for indoor mapping and as-built BIM using constrained SLAM

Jaehoon Jung, Sanghyun Yoon, Sungha Ju, Joon Heo

Research output: Contribution to journalArticle

20 Citations (Scopus)

Abstract

The growing interest and use of indoor mapping is driving a demand for improved data-acquisition facility, efficiency and productivity in the era of the Building Information Model (BIM). The conventional static laser scanning method suffers from some limitations on its operability in complex indoor environments, due to the presence of occlusions. Full scanning of indoor spaces without loss of information requires that surveyors change the scanner position many times, which incurs extra work for registration of each scanned point cloud. Alternatively, a kinematic 3D laser scanning system, proposed herein, uses line-feature-based Simultaneous Localization and Mapping (SLAM) technique for continuous mapping. Moreover, to reduce the uncertainty of line-feature extraction, we incorporated constrained adjustment based on an assumption made with respect to typical indoor environments: that the main structures are formed of parallel or orthogonal line features. The superiority of the proposed constrained adjustment is its reduction for uncertainties of the adjusted lines, leading to successful data association process. In the present study, kinematic scanning with and without constrained adjustment were comparatively evaluated in two test sites, and the results confirmed the effectiveness of the proposed system. The accuracy of the 3D mapping result was additionally evaluated by comparison with the reference points acquired by a total station: the Euclidean average distance error was 0.034 m for the seminar room and 0.043 m for the corridor, which satisfied the error tolerance for point cloud acquisition (0.051 m) according to the guidelines of the General Services Administration for BIM accuracy.

Original languageEnglish
Pages (from-to)26430-26456
Number of pages27
JournalSensors (Switzerland)
Volume15
Issue number10
DOIs
Publication statusPublished - 2015 Oct 16

Fingerprint

Biomechanical Phenomena
Uncertainty
Kinematics
Lasers
kinematics
Scanning
scanning
adjusting
lasers
Guidelines
corridors
occlusion
Technical presentations
productivity
pattern recognition
scanners
data acquisition
rooms
Feature extraction
Data acquisition

All Science Journal Classification (ASJC) codes

  • Analytical Chemistry
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering

Cite this

Jung, Jaehoon ; Yoon, Sanghyun ; Ju, Sungha ; Heo, Joon. / Development of kinematic 3D laser scanning system for indoor mapping and as-built BIM using constrained SLAM. In: Sensors (Switzerland). 2015 ; Vol. 15, No. 10. pp. 26430-26456.
@article{b02eec0bdffa4496a5c9087b27d56664,
title = "Development of kinematic 3D laser scanning system for indoor mapping and as-built BIM using constrained SLAM",
abstract = "The growing interest and use of indoor mapping is driving a demand for improved data-acquisition facility, efficiency and productivity in the era of the Building Information Model (BIM). The conventional static laser scanning method suffers from some limitations on its operability in complex indoor environments, due to the presence of occlusions. Full scanning of indoor spaces without loss of information requires that surveyors change the scanner position many times, which incurs extra work for registration of each scanned point cloud. Alternatively, a kinematic 3D laser scanning system, proposed herein, uses line-feature-based Simultaneous Localization and Mapping (SLAM) technique for continuous mapping. Moreover, to reduce the uncertainty of line-feature extraction, we incorporated constrained adjustment based on an assumption made with respect to typical indoor environments: that the main structures are formed of parallel or orthogonal line features. The superiority of the proposed constrained adjustment is its reduction for uncertainties of the adjusted lines, leading to successful data association process. In the present study, kinematic scanning with and without constrained adjustment were comparatively evaluated in two test sites, and the results confirmed the effectiveness of the proposed system. The accuracy of the 3D mapping result was additionally evaluated by comparison with the reference points acquired by a total station: the Euclidean average distance error was 0.034 m for the seminar room and 0.043 m for the corridor, which satisfied the error tolerance for point cloud acquisition (0.051 m) according to the guidelines of the General Services Administration for BIM accuracy.",
author = "Jaehoon Jung and Sanghyun Yoon and Sungha Ju and Joon Heo",
year = "2015",
month = "10",
day = "16",
doi = "10.3390/s151026430",
language = "English",
volume = "15",
pages = "26430--26456",
journal = "Sensors",
issn = "1424-3210",
publisher = "Multidisciplinary Digital Publishing Institute (MDPI)",
number = "10",

}

Development of kinematic 3D laser scanning system for indoor mapping and as-built BIM using constrained SLAM. / Jung, Jaehoon; Yoon, Sanghyun; Ju, Sungha; Heo, Joon.

In: Sensors (Switzerland), Vol. 15, No. 10, 16.10.2015, p. 26430-26456.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Development of kinematic 3D laser scanning system for indoor mapping and as-built BIM using constrained SLAM

AU - Jung, Jaehoon

AU - Yoon, Sanghyun

AU - Ju, Sungha

AU - Heo, Joon

PY - 2015/10/16

Y1 - 2015/10/16

N2 - The growing interest and use of indoor mapping is driving a demand for improved data-acquisition facility, efficiency and productivity in the era of the Building Information Model (BIM). The conventional static laser scanning method suffers from some limitations on its operability in complex indoor environments, due to the presence of occlusions. Full scanning of indoor spaces without loss of information requires that surveyors change the scanner position many times, which incurs extra work for registration of each scanned point cloud. Alternatively, a kinematic 3D laser scanning system, proposed herein, uses line-feature-based Simultaneous Localization and Mapping (SLAM) technique for continuous mapping. Moreover, to reduce the uncertainty of line-feature extraction, we incorporated constrained adjustment based on an assumption made with respect to typical indoor environments: that the main structures are formed of parallel or orthogonal line features. The superiority of the proposed constrained adjustment is its reduction for uncertainties of the adjusted lines, leading to successful data association process. In the present study, kinematic scanning with and without constrained adjustment were comparatively evaluated in two test sites, and the results confirmed the effectiveness of the proposed system. The accuracy of the 3D mapping result was additionally evaluated by comparison with the reference points acquired by a total station: the Euclidean average distance error was 0.034 m for the seminar room and 0.043 m for the corridor, which satisfied the error tolerance for point cloud acquisition (0.051 m) according to the guidelines of the General Services Administration for BIM accuracy.

AB - The growing interest and use of indoor mapping is driving a demand for improved data-acquisition facility, efficiency and productivity in the era of the Building Information Model (BIM). The conventional static laser scanning method suffers from some limitations on its operability in complex indoor environments, due to the presence of occlusions. Full scanning of indoor spaces without loss of information requires that surveyors change the scanner position many times, which incurs extra work for registration of each scanned point cloud. Alternatively, a kinematic 3D laser scanning system, proposed herein, uses line-feature-based Simultaneous Localization and Mapping (SLAM) technique for continuous mapping. Moreover, to reduce the uncertainty of line-feature extraction, we incorporated constrained adjustment based on an assumption made with respect to typical indoor environments: that the main structures are formed of parallel or orthogonal line features. The superiority of the proposed constrained adjustment is its reduction for uncertainties of the adjusted lines, leading to successful data association process. In the present study, kinematic scanning with and without constrained adjustment were comparatively evaluated in two test sites, and the results confirmed the effectiveness of the proposed system. The accuracy of the 3D mapping result was additionally evaluated by comparison with the reference points acquired by a total station: the Euclidean average distance error was 0.034 m for the seminar room and 0.043 m for the corridor, which satisfied the error tolerance for point cloud acquisition (0.051 m) according to the guidelines of the General Services Administration for BIM accuracy.

UR - http://www.scopus.com/inward/record.url?scp=84945241868&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84945241868&partnerID=8YFLogxK

U2 - 10.3390/s151026430

DO - 10.3390/s151026430

M3 - Article

AN - SCOPUS:84945241868

VL - 15

SP - 26430

EP - 26456

JO - Sensors

JF - Sensors

SN - 1424-3210

IS - 10

ER -