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Sensors 2015, 15(5), 11551-11574;

Towards the Automatic Scanning of Indoors with Robots

3D Visual Computing and Robotics Lab, Universidad de Castilla-La Mancha (UCLM), Paseo de la Universidad, 4, Ciudad Real 13071, Spain
Author to whom correspondence should be addressed.
Academic Editors: Kourosh Khoshelham and Sisi Zlatanova
Received: 13 April 2015 / Revised: 13 May 2015 / Accepted: 15 May 2015 / Published: 19 May 2015
(This article belongs to the Special Issue Sensors for Indoor Mapping and Navigation)
Full-Text   |   PDF [9048 KB, uploaded 19 May 2015]


This paper is framed in both 3D digitization and 3D data intelligent processing research fields. Our objective is focused on developing a set of techniques for the automatic creation of simple three-dimensional indoor models with mobile robots. The document presents the principal steps of the process, the experimental setup and the results achieved. We distinguish between the stages concerning intelligent data acquisition and 3D data processing. This paper is focused on the first stage. We show how the mobile robot, which carries a 3D scanner, is able to, on the one hand, make decisions about the next best scanner position and, on the other hand, navigate autonomously in the scene with the help of the data collected from earlier scans. After this stage, millions of 3D data are converted into a simplified 3D indoor model. The robot imposes a stopping criterion when the whole point cloud covers the essential parts of the scene. This system has been tested under real conditions indoors with promising results. The future is addressed to extend the method in much more complex and larger scenarios. View Full-Text
Keywords: indoor scanning; LiDAR sensors; BIM; automatic 3D digitization indoor scanning; LiDAR sensors; BIM; automatic 3D digitization
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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MDPI and ACS Style

Adán, A.; Quintana, B.; Vázquez, A.S.; Olivares, A.; Parra, E.; Prieto, S. Towards the Automatic Scanning of Indoors with Robots. Sensors 2015, 15, 11551-11574.

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