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Building dense reconstructions with SLAM and Spot

Nilsson, Ola (2022)
Department of Automatic Control
Abstract
Having access to dense reconstruction of ongoing building constructions provides insight into the building process and could serve as both a tool for error detection and documentation of the actual outcome. In this thesis, Spot, the quadruped robot designed by Boston Dynamics is evaluated as a platform for site inspection. The result of the thesis was a prototype system built on top of the ROS framework which integrates the sensors of the robot platform. Combined with the visual SLAM library RTABMap for robust localization with loop closing capabilities and dense camera and LiDAR reconstructions, the system provides means for online map building and data acquisition. The localization performance achieved positional RMSE in the decimeter... (More)
Having access to dense reconstruction of ongoing building constructions provides insight into the building process and could serve as both a tool for error detection and documentation of the actual outcome. In this thesis, Spot, the quadruped robot designed by Boston Dynamics is evaluated as a platform for site inspection. The result of the thesis was a prototype system built on top of the ROS framework which integrates the sensors of the robot platform. Combined with the visual SLAM library RTABMap for robust localization with loop closing capabilities and dense camera and LiDAR reconstructions, the system provides means for online map building and data acquisition. The localization performance achieved positional RMSE in the decimeter range for paths spanning further than 100 meters. The resulting LiDAR reconstructions provided comparable results to be evaluated against the planned building model and acheived centimeter accuracy with the current sensor configuration. (Less)
Please use this url to cite or link to this publication:
author
Nilsson, Ola
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
report number
TFRT-6158
other publication id
0280-5316
language
English
id
9079252
date added to LUP
2022-05-12 11:40:38
date last changed
2022-05-12 11:40:38
@misc{9079252,
  abstract     = {{Having access to dense reconstruction of ongoing building constructions provides insight into the building process and could serve as both a tool for error detection and documentation of the actual outcome. In this thesis, Spot, the quadruped robot designed by Boston Dynamics is evaluated as a platform for site inspection. The result of the thesis was a prototype system built on top of the ROS framework which integrates the sensors of the robot platform. Combined with the visual SLAM library RTABMap for robust localization with loop closing capabilities and dense camera and LiDAR reconstructions, the system provides means for online map building and data acquisition. The localization performance achieved positional RMSE in the decimeter range for paths spanning further than 100 meters. The resulting LiDAR reconstructions provided comparable results to be evaluated against the planned building model and acheived centimeter accuracy with the current sensor configuration.}},
  author       = {{Nilsson, Ola}},
  language     = {{eng}},
  note         = {{Student Paper}},
  title        = {{Building dense reconstructions with SLAM and Spot}},
  year         = {{2022}},
}