The Research of Interior Measurement Methods and Robotics

In the process of interior construction, quality inspection of the masonry, plastering and decoration stages using measuring tools is one of the main processes. The purpose of which is to obtain data that can truly reflect the quality of construction through on-site testing, and to control the error within the threshold. The common method is generally manual measurement, but it has problems such as longer time, higher labor cost and greater variability, so automated 3D measurement is gradually receiving more attention. In recent years, Terrestrial Laser Scanning (TLS) as an efficient and reliable point cloud data collection method widely used in the infrastructure construction domain. This manuscript presents a systematic review of various 3D measurement techniques. The review begins with an introduction to the measurement techniques of TLS and its application in different situations. The next sections focus on three aspects of ongoing work toward automated interior measurement: 1. Low-cost system design to address the expensive problem; 2. Multi-sensor fusion such as the combination of laser scanners and cameras to enrich point cloud semantic information; 3. Planning for scanning with a priori knowledge to achieve efficient and effective point cloud data collection. The final section introduces a P4S (Planning for Scanning) interior measurement robot. The robot is equipped with dual motors, Raspberry Pi, laser rangefinder and low-cost fixed-focus camera. It realizes all-round fast scanning, real-time data processing and mm-level measurement accuracy in indoor environment, which provides a new solution for interior construction quality monitoring.