Chapter
Mar 29, 2018
Autonomous Mobile Robot Localization and Mapping for Unknown Construction Environments
Authors: Pileun Kim [email protected], Jingdao Chen [email protected], and Yong K. Cho [email protected]Author Affiliations
Publication: Construction Research Congress 2018
Abstract
With the rapid advancement of laser scanning and photogrammetry technologies, geometric data collection at construction sites by contractors has been increased to improve constructability, productivity, and onsite safety. Especially, the latest laser scanning technology provides faster scanning-speed, longer ranges, and higher accuracy and resolutions. However, the conventional static laser scanning method suffers from operational limitations due to the presence of many occlusions commonly found in a typical construction site. Full scanning without information loss requires that the scanning location should be changed several times, which also leads to extra work for registering each scanned point cloud. Alternatively, this paper presents an autonomous mobile robot which navigates a construction site and continuously updates a progress of 3D scanning with point clouds. This mobile robot system uses the 3D simultaneous localization and mapping (SLAM) technique to determine its navigation paths in an unknown environment, capture the survey-quality RGB mapped point cloud data, and automatically register the scans for geometric reconstruction of a construction site. The performance of the overall system was tested in indoor environments and validated with promising results.
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© 2018 American Society of Civil Engineers.
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Published online: Mar 29, 2018
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Ph.D. Student, Dept. of Civil and Environmental Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0355. E-mail: [email protected]
Ph.D. Student, Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, 777 Atlantic Dr. N.W., Atlanta, GA 30332-0355. E-mail: [email protected]
Associate Professor, Dept. of Civil and Environmental Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0355. E-mail: [email protected]
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Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.