Design and development of an actuated Lidar platform to create environmental surveillance maps for construction application

Abstract

In the 21st century, the construction industry has taken the path of robotization and automation. Due to the rapid technology development, more and more new solutions are required these days. 3D scanning and environmental surveillance technology are widely used in the construction field devices. However, most of them are dedicated to build a visual high-quality point cloud data. This work is devoted to the development of a lidar platform, the task of which is to scan the premises at a construction site and build a point cloud. The constructed point cloud is used to align it with the IFC model and determine the position of the device in this model. The platform is part of a device designed to project a laser image onto a surface. The thesis considers the choice of components for creating the first prototype, the algorithms and approaches necessary for 3D registration and determining the position of the system.