BIM-based scan planning for scanning with a quadruped walking robot

Abstract

Scan positioning for documenting the geometry of an existing building still relies on the experience of an expert surveyor. Therefore, it is important to utilize optimal scan positioning for an automated scanning process with an autonomous robot platform. This study presents an automated framework to determine the optimal scan plan-ning for a stop-and-go mapping procedure with a quadruped walking robot based on BIM. The proposed framework comprises four main phases: Generation of scan-position candidates; optimal scan positioning; ordering of the optimal scan positions; data collection with an autonomous scanning system. The experimental results showed that the proposed framework presented better performance than those of the conventional ap-proaches. Furthermore, the number of scan positions and the scan operation time were significantly reduced compared with manual scanning by skilled surveyors in real-world indoor environments. A future work will focus on an automated registration process and enhancement of computational performance.