Automated As-built 3D Reconstruction Using Quadruped Robot and 3D LiDAR Sensor

摘要

Advancements in automated 3D scene reconstruction are crucial for accurately documenting and sharing knowledge about the current state of the building and infrastructure facilities. Traditional methods of 3D reconstruction involve laser scanning to capture the building's as-built conditions, which is often a tedious and time-consuming process. This study introduces an automated as-built 3D reconstruction method, with the aid of quadruped robot and 3D LiDAR sensor. The core of this approach is the integration of LiDAR Simultaneous Localisation and Mapping (SLAM) algorithm with robotic control, aiming to achieve detailed 3D/2D mapping and complete point cloud data acquisition. A practical field experiment was conducted to test this approach in reconstructing the building interiors. The results demonstrate the effectiveness of this novel 3D scanning method in achieving high completeness and density in point cloud data.