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40th International Symposium on Automation and robotics in Construction, ISARC 2023

作者： López-Rey, A. Ramón, A. Adán, A. 3D Visual Computing & Robotics Lab University of Castilla-La Mancha Spain

ISBN: (纸本)9780645832204

The use of robotic platforms greatly facilitates the reconstructions of 3d models of buildings and automates tasks that would be tiring and inaccurate when carried out manually. In the specific area of thermal monitoring of buildings, robots can also develop an important role providing dense temperature information of envelopes and structural elements. However, the current robot-based systems that extract thermal models can work under serious restrictions that concern, among others, the complexity of the scene, autonomy, navigation, and computation. This article discusses the limitations and restrictions of the current mobile scanning robots for thermal mapping inside buildings and proposes a thermal scanning robot that solves some of these issues. © ISARC 2023. All rights reserved.

关键词： Robots

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Recognition and positioning of SBCs in BIM models using a geometric vs colour consensus approach 35

Recognition and positioning of SBCs in BIM models using a ge...

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35th International Symposium on Automation and robotics in Construction and International AEC/FM Hackathon: The Future of Building Things, ISARC 2018

作者： Adán, A. Quintana, B. Prieto, S.A. 3D Visual Computing and Robotic Lab University of Castilla La Mancha Spain

This paper proposes a new approach that recognizes different kinds of small objects that are commonly seen on walls and ceilings of buildings (Figure 1). The general idea supported in this paper is that such objects, called service building components (SBCs), should be inserted into the structure of the standard existing as-is BIM models, as they are automatically generated. But identifying these small building components within the vast dataset provided by the scanner is a difficult issue not solved yet. Our approach first processes a dense coloured point cloud and extracts global geometry and colour features to identify potential SBCs. A novel consensus algorithm between geometry and colour features is the basis to efficiently recognize and calculate the position of the existing small objects in the as-is BIM model of the building. The method has been tested in real and simulated environments providing encouraging results. © ISARC 2018 - 35th International Symposium on Automation and robotics in Construction and International AEC/FM Hackathon: The Future of Building Things. All rights reserved.

关键词： Object recognition

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Fusion of thermal imagery and LidAR data for generating TBIM models

Fusion of thermal imagery and LiDAR data for generating TBIM...

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IEEE Sensors

作者： A. Adan T. Prado S. A. Prieto B. Quintana 3D Visual & Computing Lab. Computer Science School Castilla La Mancha University

ISBN: (纸本)9781509010134

This paper presents a system that provides dense thermal 3d point clouds as a preliminary step towards generating Thermal Building Information Models (TBIM). The system is a fusion of three sensors: a 3d laser scanner, an RGB camera and a thermal camera which are integrated under the same framework. The methodology and the calibration system have got novel aspects that improve the accuracy and soundness of earlier proposals. Additionally, the approach is able to obtain the whole 3d thermal map of the visible space in building indoors, issue that has not been totally solved yet. The system has been tested on large indoor scenarios with promising results.

关键词： 3d digitalization 3d Laser Scanner Thermal Camera 3d Thermal Modelling 3d data Processing laser scanners thermal imager Fusion reactions calibration system Fusion, biological Thermography FUSION fusion (melting) Soundness Lidar

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door detection in 3d colored laser scans for autonomous indoor navigation

Door detection in 3D colored laser scans for autonomous indo...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： B. Quintana S. A. Prieto A. Adán F. Bosché 3D Visual Computing and Robotics Lab Universidad de Castilla-La Mancha Ciudad Real Spain School of Energy Geoscience Infrastructure and Society Heriot-Watt University Edinburgh U.K.

ISBN: (纸本)9781509024261

door detection is becoming an increasingly important subject in relation to autonomous mobile robot navigation in indoor environments. This paper presents an original approach that recognizes open and closed doors in 3d laser scanned data. The proposed technique uses both the geometric (i.e. XYZ coordinates) and colour (i.e. RGB/HSV) information provided by a calibrated set of 3d laser scanner and a colour camera. In other words, our technique is developed under a 6d-space framework. The geometry/colour integration and other characteristics of our method make it robust under occlusion and efficient to slight changes in door colours resulting from varying lighting conditions experienced from different scanning locations. The approach is tested in both simulated and real scenes, yielding encouraging results.

关键词： Three-dimensional displays Robot kinematics Image color analysis Two dimensional displays Cameras Lasers

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Evolution of RFId applications in construction: A literature review

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8th International Conference on Ubiquitous computing and Ambient Intelligence, UCAmI 2014

作者： Valero, Enrique Adan, Antonio Cerrada, Carlos 3D Visual Computing and Robotics Lab University of Castilla-La Mancha Ciudad Real Spain Dept. ISSI UNED Madrid Spain

ISBN: (纸本)9783319131016

Radio Frequency Identification (RFId) technology has been widely used in the field of construction during the last two decades. Basically, RFId facilitates the control on a wide variety of processes in different stages of the lifecycle of a building, from its conception to its inhabitance. The main objective with this paper is to present a review of RFId applications in construction industry, pointing out the existing developments, limitations and gaps. The paper presents the establishment of the RFId technology in four main stages of the lifecycle of a facility: planning/constructive components manufacturing, as-built control and tracking, security and as-is evaluation/maintenance. Conclusions and future advances are presented at the end of the paper. © Springer International Publishing Switzerland 2014.

关键词： Construction industry

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Evolution of RFId applications in construction: A literature review

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8867卷 191-199页

作者： Valero, Enrique Adan, Antonio Cerrada, Carlos 3D Visual Computing and Robotics Lab University of Castilla-La Mancha Ciudad Real Spain Dept. ISSI UNED Madrid Spain

ISBN: (纸本)9783319131016

关键词： Construction industry

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detection, modeling and classification of moldings for automated reverse engineering of buildings from 3d data

Detection, modeling and classification of moldings for autom...

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28th International Symposium on Automation and robotics in Construction, ISARC 2011

作者： Valero, Enrique Adan, Antonio Huber, daniel Cerrada, Carlos Escuela Técnica Superior de Ingenieria Informatica UNED Madrid Spain 3D Visual Computing and Robotics Lab. Universidad de Castilla-La Mancha Ciudad Real Spain Robotics Institute Carnegie Mellon University Pittsburgh United States

Laser scanner data is increasingly being used for the detailed reverse engineering of buildings. This process is currentiy primarily manual, but recent research has shown that basic structures, such as walls, ceilings, floors, doorways, and windows, can be detected and modeled automatically. Building on this previous research we focus on the modeling of those linear moldings that typically surround doorways, windows, and divide ceilings from walls and walls from floors. These structures may be secondary and merely ornamental, but many projects nevertheless require that they be modeled. Moldings can be difficult to model manually owing to missing data caused by occlusions or to the ambiguity caused by low data density. Our molding modeling approach consists of two steps: 1) estimating the path of the molding;and 2) estimating the shape of the molding profile. In the first step, we iteratively update the molding's line of extrusion by optimizing the similarity of cross-sections sampled along the path, thereby compensating for imperfections in the initial orientation estimate. In the second step, a unified profile is extracted using data from the entire length of the molding, which allows for partial missing data from occlusions. The profile is then characterized by a specific shape descriptor. Finally, a KNN algorithm classifies the molding into a database which has been constructed with profiles originating from various molding manufacturers. We demonstrate the method using real 3d laser scanner data of various types of moldings, both simple and complex.

关键词： Iterative methods

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Building an Automatic 3d Vision Recognition System Assisted by Smart Tags

Building an Automatic 3D Vision Recognition System Assisted ...

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European Workshop on Smart Objects: Systems, Technologies and Applications

作者： Enrique Valero Carlos Cerrada Ismael Abad Jose Cerrada Antonio Adan Escuela Técnica Superior de Ingeniería Informática UNED Juan del Rosal 16 28040 Madrid Spain 3D Visual Computing and Robotics Lab UCLM Paseo de la Universidad 4. 13071 Ciudad Real Spain

Object recognition in a 3d virtualized environment can be improved by adding additional sources of information. The involvement of several devices addressed to data acquisition allows improving the existing recognition methods by managing a smart tagged universe through ubiquitous programming. In this paper we present the building of an information system designed for the acquisition of several objects' attributes. These objects are part of a universe which will be virtualized by means of a 3d scanner. The system is conceived to improve the object recognition methods, by adding some smart information to conventional recognition algorithms. The use of smart tags proposed in this article represents an important advance regarding previous works, where passive RFId tags and short range scanners were employed. This new system will allow the user to work with complex indoor scenes, virtualized by long range scanners. More specifically, this paper also shows the implementation carried out about Near Field Communication (NFC), which is employed in a first prototype developed to send and receive some information from tags located on several objects of our universe.

关键词： Programming Rabbits Color

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