Department of Electronic Engineering, NED University of Engineering and Technology, Karachi, Pakistan.
Institute of Industrial Electronic Engineering-PCSIR, Affiliated with NED University of Engineering and Technology, Karachi, Pakistan.
PLoS One. 2024 Mar 28;19(3):e0301273. doi: 10.1371/journal.pone.0301273. eCollection 2024.
This paper presents a custom made small rover based surveying, mapping and building information modeling solution. Majority of the commercially available mobile surveying systems are larger in size which restricts their maneuverability in the targeted indoor vicinities. Furthermore their functional cost is unaffordable for low budget projects belonging to developing markets. Keeping in view these challenges, an economical indigenous rover based scanning and mapping system has developed using orthogonal integration of two low cost RPLidar A1 laser scanners. All the instrumentation of the rover has been interfaced with Robot Operating System (ROS) for online processing and recording of all sensorial data. The ROS based pose and map estimations of the rover have performed using Simultaneous Localization and Mapping (SLAM) technique. The perceived class 1 laser scans data belonging to distinct vicinities with variable reflective properties have been successfully tested and validated for required structural modeling. Systematically the recorded scans have been used in offline mode to generate the 3D point cloud map of the surveyed environment. Later the structural planes extraction from the point cloud data has been done using Random Sampling and Consensus (RANSAC) technique. Finally the 2D floor plan and 3D building model have been developed using point cloud processing in appropriate software. Multiple interiors of existing buildings and under construction indoor sites have been scanned, mapped and modelled as presented in this paper. In addition, the validation of the as-built models have been performed by comparing with the actual architecture design of the surveyed buildings. In comparison to available surveying solutions present in the local market, the developed system has been found faster, accurate and user friendly to produce more enhanced structural results with minute details.
本文提出了一种定制的小型漫游者勘测、测绘和建筑信息建模解决方案。大多数商用移动勘测系统体积较大，限制了它们在目标室内区域的机动性。此外，它们的功能成本对于属于发展中市场的低预算项目来说是负担不起的。考虑到这些挑战，我们利用两个低成本 RPLidar A1 激光扫描仪的正交集成，开发了一种经济实惠的基于本土漫游者的扫描和测绘系统。漫游者的所有仪器都已与机器人操作系统 (ROS) 接口，用于在线处理和记录所有传感器数据。基于 ROS 的漫游者姿态和地图估计使用同时定位和地图构建 (SLAM) 技术完成。已经成功测试和验证了属于不同区域、具有不同反射特性的感知类 1 激光扫描数据，以满足所需的结构建模要求。系统地，使用记录的扫描以离线模式生成勘测环境的 3D 点云地图。然后，使用随机抽样一致 (RANSAC) 技术从点云数据中提取结构平面。最后，使用适当软件中的点云处理生成 2D 平面图和 3D 建筑模型。本文介绍了对现有建筑物的多个内部和在建室内场地进行扫描、测绘和建模。此外，还通过与所勘测建筑物的实际建筑设计进行比较，对竣工模型进行了验证。与本地市场上现有的勘测解决方案相比，所开发的系统被发现速度更快、更准确、更用户友好，能够以最小的细节产生更增强的结构结果。
