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

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.

Automated summary

This study presents an automated framework based on BIM for optimal scan positioning with a quadruped walking robot. The framework includes four main phases: generation of scan-position candidates, determination of optimal scan positions, ordering of optimal scan positions, and data collection with an autonomous scanning system. Experimental results showed that the proposed framework outperformed conventional approaches, with significantly reduced scan positions and operation time compared to manual scanning by skilled surveyors in real-world indoor environments. Future work will focus on automated registration and computational performance enhancement.