360-Degree Tri-Modal Scanning: Engineering a Modular Multi-Sensor Platform for Semantic Enrichment of BIM Models

Fiona C. Collins, Florian Noichl, Martin Slepicka, Gerda Cones, André Borrmann

Research output: Contribution to journalConference articlepeer-review


Point clouds, image data, and corresponding processing algorithms are intensively investigated to create and enrich Building Information Models (BIM) with as-is information and maintain their value across the building lifecycle. Point clouds can be captured using LiDAR and enriched with color information from images. Complementary to such dual-sensor systems, thermography captures the infrared light spectrum, giving insight into the temperature distribution on an object’s surface and allowing a diagnosis of the as-is energetic health of buildings beyond what humans can see. Although the three sensor modes are commonly used in pair-wise combinations, only a few systems leveraging the power of tri-modal sensor fusion have been proposed. This paper introduces a sensor system comprising LiDAR, RGB, and a radiometric thermal infrared sensor that can capture a 360-degree range through bi-axial rotation. The resulting tri-modal data is fused to a thermo-color point cloud from which temperature values are derived for a standard indoor building setting. Qualitative data analysis shows the potential for unlocking further object semantics in a state-of-the-art Scan-to-BIM pipeline. Furthermore, an outlook is provided on the cross-modal usage of semantic segmentation for automatic, accurate temperature calculations.

Original languageEnglish
Pages (from-to)41-48
Number of pages8
JournalISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Issue number1
StatePublished - 9 May 2024
Event2024 ISPRS Technical Commission I Mid-term Symposium on Intelligent Sensing and Remote Sensing Application - Changsha, China
Duration: 13 May 202417 May 2024


  • Scan-to-BIM
  • Scan-vs-BIM
  • point cloud
  • sensor fusion
  • thermography


Dive into the research topics of '360-Degree Tri-Modal Scanning: Engineering a Modular Multi-Sensor Platform for Semantic Enrichment of BIM Models'. Together they form a unique fingerprint.

Cite this