Scan2BIM: An Integrated Platform for 3D Reconstruction of Indoor Environment

Huang, Zhanhong

Etd

Scan2BIM: An Integrated Platform for 3D Reconstruction of Indoor Environment

Público Deposited

As the technology of 3D lidar has become more advanced in recent years, it has been adopted in many applications such as autonomous driving and indoor robotics. One of the most important LiDAR applications is mapping and modeling, which remains a challenging technical problem, especially in an indoor environment. This thesis is focused on the development of a software platform called SCAN2BIM that generates building information models directly from 3D LiDAR scans. The existing methods mount a LiDAR scanner on a tripod and record at various fixed locations, which do not work well in narrow or cluttered spaces. Additionally, the existing methods employ offline post-processing of the scanned point cloud, which does not support real-time visualization of multiple scans, leading to errors in point cloud registration. Moreover, the limited availability of software specifically tailored for processing LiDAR data in indoor environments further restricts the effectiveness of existing methods. Therefore, this thesis proposes a comprehensive software platform specifically designed for indoor mapping and modeling. The technical contributions include detailed methodologies for equipment setup, sensor calibration, SLAM-based mapping, and a customized LiDAR post-processing platform. The proposed SCAN2BIM approach addresses the inefficiencies of the current practices by providing an optimized, semi-automated workflow to generate the Building Information Models (BIM).

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