BIM-SLAM: Integrating BIM Models in Multi-session SLAM for Lifelong Mapping using 3D LiDAR

M. A. Vega Torres, A. Braun, A. Borrmann

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

While 3D Light Detection and Ranging (LiDAR) sensor technology is becoming more advanced and cheaper every day, the growth of digitalization in the Architecture, Engineering and Construction (AEC) industry contributes to the fact that 3D building information models (BIM models) are now available for a large part of the built environment. These two facts open the question of how 3D models can support 3D LiDAR long-term Simultaneous Localization and Mapping (SLAM) in indoor, Global Positioning System (GPS)-denied environments. This paper proposes a methodology that leverages BIM models to create an updated map of indoor environments with sequential LiDAR measurements. Session data (pose graph-based map and descriptors) are initially generated from BIM models. Then, real-world data is aligned with the session data from the model using multi-session anchoring while minimizing the drift on the real-world data. Finally, the new elements not present in the BIM model are identified, grouped, and reconstructed in a surface representation, allowing a better visualization next to the BIM model. The framework enables the creation of a coherent map aligned with the BIM model that does not require prior knowledge of the initial pose of the robot, and it does not need to be inside the map.

Original languageEnglish
Title of host publicationProceedings of the 40th International Symposium on Automation and Robotics in Construction, ISARC 2023
EditorsBorja Garcia de Soto, Vicente Gonzalez, Ioannis Brilakis
PublisherInternational Association for Automation and Robotics in Construction (IAARC)
Pages521-528
Number of pages8
ISBN (Electronic)9780645832204
DOIs
StatePublished - 2023
Event40th International Symposium on Automation and Robotics in Construction, ISARC 2023 - Chennai, India
Duration: 5 Jul 20237 Jul 2023

Publication series

NameProceedings of the International Symposium on Automation and Robotics in Construction
ISSN (Electronic)2413-5844

Conference

Conference40th International Symposium on Automation and Robotics in Construction, ISARC 2023
Country/TerritoryIndia
CityChennai
Period5/07/237/07/23

Keywords

  • 3D LiDAR
  • BIM
  • Localization
  • Mapping
  • Multi-Session SLAM
  • Pose-Graph Optimization

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