On human-centric and robot-centric perspective of a building model

Robust Localization of the Mobile Robot Driven by Lidar Measurement and Matching for Ongoing Scene

“…The mobile robot can be used as a data storage medium to capture valuable information about the ongoing construction process by using self-localization and mapping sensing technology. Also, it can achieve the construction of the scene in an orderly manner by matching the digital model with the 1:1 scale of its construction location [3,36]. So, the paper defines the construction scene as an "ongoing scene".…”

“…For improving the quality and efficiency of building construction, a 2D drawing of the ongoing building is designed by the CAD software [4,37]. From the top view of Figure 2, the actual operating range adopts a 1:1 scale to consist with the drawing, and as a digital model to the mobile robot [36,38]. Then, the artificial landmarks with high reflectivity films are set in the ongoing scene, and the intensity information of them are extracted to determine the initial position of the mobile robot.…”

“…In order to improve the localization accuracy of the mobile robot, blue pillars and brown floors were used to match the 3D point cloud to obtain the end of the mobile construction manipulator, and gave feedback to Grasshopper for brick stacking [3]. Turek, W. et al [36] described the mobility of the mobile construction robot when constructing walls in an unknown environment. The metal disk was scanned and its position was defined as the origin of the coordinate system in the CAD model.…”

“…Then, the new working location of the mobile robot was determined based on the measurement to the landmark. However, the localization method in [36] was insufficient, and the artificial landmark was moved frequently, which led to cumulative errors in measurement between the actual position and the CAD model. As a result, the safety risks of construction workers and low efficiency of intelligent construction were still remained.…”