Optimizing Construction Site Surveys: BIM-Based Position Planning for Robotic Indoor Scanning

Abstract

The traditional method of positioning scans to document existing building geometry relies on expert surveyor experience. This research emphasizes the need for optimal scan positioning in automated scanning using autonomous robots. The study introduces a framework for planning scans in a stop-and-go mapping process with a quadruped walking robot, leveraging Building Information Modeling (BIM). The framework consists of four phases: generating scan-position options, determining optimal positions, organizing the positions, and collecting data using an autonomous scanning system. Experimental results demonstrate that this approach outperforms conventional methods. It significantly reduces the number of scan positions and operation time in real in- door environments, compared to manual scanning by skilled surveyors. Future work will focus on automating the registration process and improving computational efficiency.