Efficient 3D Mapping and Modelling of Indoor Scenes with the Microsoft HoloLens: A Survey

The Microsoft HoloLens is a head-worn mobile augmented reality device. It allows a real-time 3D mapping of its direct environment and a self-localisation within the acquired 3D data. Both aspects are essential for robustly augmenting the local environment around the user with virtual contents and for the robust interaction of the user with virtual objects. Although not primarily designed as an indoor mapping device, the Microsoft HoloLens has a high potential for an efficient and comfortable mapping of both room-scale and building-scale indoor environments. In this paper, we provide a survey on the capabilities of the Microsoft HoloLens (Version 1) for the efficient 3D mapping and modelling of indoor scenes. More specifically, we focus on its capabilities regarding the localisation (in terms of pose estimation) within indoor environments and the spatial mapping of indoor environments. While the Microsoft HoloLens can certainly not compete in providing highly accurate 3D data like laser scanners, we demonstrate that the acquired data provides sufficient accuracy for a subsequent standard rule-based reconstruction of a semantically enriched and topologically correct model of an indoor scene from the acquired data. Furthermore, we provide a discussion with respect to the robustness of standard handcrafted geometric features extracted from data acquired with the Microsoft HoloLens and typically used for a subsequent learning-based semantic segmentation

A semi-automated approach to model architectural elements in Scan-to-BIM processes

In the last years, the AEC (Architecture, Engineering and Construction) domain has exponentially increased the use of BIM and HBIM models for several applications, such as planning renovation and restoration, building maintenance, cost managing, or structural/energetic retrofit design. However, obtaining detailed as-built BIM models is a demanding and time-consuming process. Especially in historical contexts, many different and complex architectural elements need to be carefully and manually modelled. Meshes or surfaces and NURBS or polylines, derived from 3D reality-based data, are recently used as a reference for the HBIM accurate modelling. This work proposes a comprehensive and novel semi-automated approach to reconstruct architectural elements through the Visual Programming Language (VPL) Dynamo software and a Boundary-Representation method (B-rep), starting from 3D surveying data and point clouds classification. A wide package of scripts provides solutions for modelling complex shapes and transferring the obtained 3D models into BIM Authoring tools for a complete reconstruction phase. The presented procedure, useful for different BIM or HBIM applications, proved to reduce the modelling time significantly

Geospatial Data Management Research: Progress and Future Directions

Without geospatial data management, today´s challenges in big data applications such as earth observation, geographic information system/building information modeling (GIS/BIM) integration, and 3D/4D city planning cannot be solved. Furthermore, geospatial data management plays a connecting role between data acquisition, data modelling, data visualization, and data analysis. It enables the continuous availability of geospatial data and the replicability of geospatial data analysis. In the first part of this article, five milestones of geospatial data management research are presented that were achieved during the last decade. The first one reflects advancements in BIM/GIS integration at data, process, and application levels. The second milestone presents theoretical progress by introducing topology as a key concept of geospatial data management. In the third milestone, 3D/4D geospatial data management is described as a key concept for city modelling, including subsurface models. Progress in modelling and visualization of massive geospatial features on web platforms is the fourth milestone which includes discrete global grid systems as an alternative geospatial reference framework. The intensive use of geosensor data sources is the fifth milestone which opens the way to parallel data storage platforms supporting data analysis on geosensors. In the second part of this article, five future directions of geospatial data management research are presented that have the potential to become key research fields of geospatial data management in the next decade. Geo-data science will have the task to extract knowledge from unstructured and structured geospatial data and to bridge the gap between modern information technology concepts and the geo-related sciences. Topology is presented as a powerful and general concept to analyze GIS and BIM data structures and spatial relations that will be of great importance in emerging applications such as smart cities and digital twins. Data-streaming libraries and “in-situ” geo-computing on objects executed directly on the sensors will revolutionize geo-information science and bridge geo-computing with geospatial data management. Advanced geospatial data visualization on web platforms will enable the representation of dynamically changing geospatial features or moving objects’ trajectories. Finally, geospatial data management will support big geospatial data analysis, and graph databases are expected to experience a revival on top of parallel and distributed data stores supporting big geospatial data analysis

Normal classification of 3D occupancy grids for voxel-based indoor reconstruction from point clouds

In this paper, we present an automated method for classification of binary voxel occupancy grids of discretized indoor mapping data such as point clouds or triangle meshes according to normal vector directions. Filled voxels get assigned normal class labels distinguishing between horizontal and vertical building structures. The horizontal building structures are further differentiated into those with normal directions pointing upwards or downwards with respect to the building interior. The derived normal grids can be deployed in the context of an existing voxel-based indoor reconstruction pipeline, which so far was only applicable to indoor mapping triangle meshes that already contain normal vectors consistently oriented with respect to the building interior. By means of quantitative evaluation against reference data, we demonstrate the performance of the proposed method and its applicability in the context of voxel-based indoor reconstruction from indoor mapping point clouds without normal vectors. The code of our implementation is made available to the public at https://github.com/huepat/voxir

A FLEXIBLE METHODOLOGY FOR OUTDOOR/INDOOR BUILDING RECONSTRUCTION FROM OCCLUDED POINT CLOUDS

Terrestrial Laser Scanning data are increasingly used in building survey not only in cultural heritage domain but also for as-built modelling of large and medium size civil structures. However, raw point clouds derived from laser scanning generally not directly ready for the generation of such models. A time-consuming manual modelling phase has to be taken into account. In addition the large presence of occlusion and clutter may turn out in low-quality building models when state-of-the-art automatic modelling procedures are applied. This paper presents an automated procedure to convert raw point clouds into semantically-enriched building models. The developed method mainly focuses on a geometrical complexity typical of modern buildings with clear prevalence of planar features A characteristic of this methodology is the possibility to work with outdoor and indoor building environments. In order to operate under severe occlusions and clutter a couple of completion algorithms were designed to generate a plausible and reliable model. Finally, some examples of the developed modelling procedure are presented and discussed

Challenges and solutions for autonomous ground robot scene understanding and navigation in unstructured outdoor environments: A review

The capabilities of autonomous mobile robotic systems have been steadily improving due to recent advancements in computer science, engineering, and related disciplines such as cognitive science. In controlled environments, robots have achieved relatively high levels of autonomy. In more unstructured environments, however, the development of fully autonomous mobile robots remains challenging due to the complexity of understanding these environments. Many autonomous mobile robots use classical, learning-based or hybrid approaches for navigation. More recent learning-based methods may replace the complete navigation pipeline or selected stages of the classical approach. For effective deployment, autonomous robots must understand their external environments at a sophisticated level according to their intended applications. Therefore, in addition to robot perception, scene analysis and higher-level scene understanding (e.g., traversable/non-traversable, rough or smooth terrain, etc.) are required for autonomous robot navigation in unstructured outdoor environments. This paper provides a comprehensive review and critical analysis of these methods in the context of their applications to the problems of robot perception and scene understanding in unstructured environments and the related problems of localisation, environment mapping and path planning. State-of-the-art sensor fusion methods and multimodal scene understanding approaches are also discussed and evaluated within this context. The paper concludes with an in-depth discussion regarding the current state of the autonomous ground robot navigation challenge in unstructured outdoor environments and the most promising future research directions to overcome these challenges