Speak the Same Language: Global LiDAR Registration on BIM Using Pose Hough Transform

摘要

Light detection and ranging (LiDAR) point clouds and building information modeling (BIM) represent two distinct data modalities in the fields of robot perception and construction. These modalities originate from different sources and are associated with unique reference frames. The primary goal of this study is to align these modalities within a shared reference frame using a global registration approach, effectively enabling them to “speak the same language”. To achieve this, we propose a cross-modality registration method, spanning from the front end to the back end. At the front end, we extract triangle descriptors by identifying walls and intersected corners, enabling the matching of corner triplets with a complexity independent of the BIM’s size. For the back-end transformation estimation, we utilize the Hough transform to map the matched triplets to the transformation space and introduce a hierarchical voting mechanism to hypothesize multiple pose candidates. The final transformation is then verified using our designed occupancy-aware scoring method. To assess the effectiveness of our approach, we conducted real-world multi-session experiments in a large-scale university building, employing two different types of LiDAR sensors. We make the collected datasets and codes publicly available to benefit the community. Note to Practitioners—Our proposed registration method leverages walls and corners as shared features between LiDAR and BIM data, making it particularly well-suited for scenarios with well-defined structural layouts. Accumulating a larger LiDAR submap provides richer structural information, which further aids in achieving accurate alignment. To optimize computational efficiency, we recommend constructing the descriptor database offline and loading it during runtime, enabling a theoretical retrieval complexity of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$O(1)$ </tex-math></inline-formula>. Despite its advantages, our approach has certain limitations. First, it primarily focuses on planar structures, which limits its effectiveness in utilizing non-planar features. Second, the method may underperform in cases where significant deviations exist between the as-designed BIM and as-is LiDAR data. Lastly, in ambiguous scenarios, such as long corridors or similar layouts within the same or across different floors, our method may struggle to verify the correct transformation among candidates. To address these challenges, incorporating additional information, particularly semantic cues such as floor numbers, room numbers, and room types, could enhance its robustness and reliability.