Real-Time 3D Reconstruction Adapted for Robotic Applications in Construction Sites

The integration of robot vision techniques, specifically focused on 3D reconstruction, assumes paramount significance in the construction sector, serving as a key enabler for fulfilling the imperative digitalization prerequisites inherent to the principles of Industry 4.0. This study proposes a real-time 3D reconstruction pipeline, based on common algorithms, that utilizes both RGB and depth information. Specifically, it delves into a comprehensive evaluation of InfiniTAM [5] and introduces a novel pipeline, that involves the integration of InfiniTAM with either ORB-SLAM3 [1] or RTAB-Map [3], aiming to enhance the accuracy of 3D surface reconstruction, especially in the context of robotic operations. The insights derived from this study facilitate the implementation of a robust 3D reconstruction methodology applicable to the construction industry.