Construction performance monitoring has been identified as a key component that leads to the success of construction project. Real-time and frequent will enable early detection potential schedule delays facilitate communication progress information accurately quickly. To as-built as-planned data comparison, this paper proposes an automated registration video sequence (i.e., series image frames) building model (BIM) in real time. This method discovers camera poses frames BIM coordinate system...

Deviations from planned schedules in construction projects frequently lead to unexpected financial disadvantages. However, early assessments of delays or accelerations during the phase enables adjustment succeeding tasks and their dependencies. These involve human resources as-built information that may not be immediately available. To reduce manual processes collecting generating information, this paper presents development validation a new pipeline localizing camera BIM by detecting...

In the last decade, automated object manipulation for construction applications has received much attention. However, majority of existing systems are situated in a fixed location. They mostly static surrounded by necessary tools to manipulate objects within their workspace. Mobility is an essential and key challenge different applications, such as material handling site cleaning. To fill this gap, paper presents mobile robotic system capable vision-based applications. This integrates scene...

To fill the lack of research efforts in virtual assembly modules and training, this paper presents a manipulation building objects an immersive environment (IVE). A worker wearing reality (VR) head-mounted device (HMD) virtually perform multiple while identifying any issues. Hand motions are tracked by motion sensor mounted on HMD. The can be graded based his/her overall performance speed during VR simulation. developed simulation ultimately enable workers to identify unforeseen issues...

The use of camera-equipped robotic platforms for data collection and visually monitoring applications is exponentially growing. Cluttered construction sites with many objects on the ground are challenging environments a mobile unmanned vehicle (UGV) to navigate. This study presents UGV equipped stereo camera arm that can remove obstacles along UGV's path. To achieve this, surrounding environment captured by detected. obstacle's relative location sent module through robot operating system...

In efforts to automate construction performance monitoring, past studies have worked on vision-based registration of image BIM and 3D point clouds BIM. The continuous development simultaneous localization mapping (SLAM) enabled real-time estimation locations orientations a camera while incrementally reconstructing scene. However, it localizes an arbitrary local coordinate system produces low-resolution noisy cloud that is not suitable for quality assessment structure. For the...

Building an Integrated Mobile Robotic System for Real-Time Applications in Construction Khashayar Asadi, Hariharan Ramshankar, Harish Pullagurla, Aishwarya Bhandare, Suraj Shanbhag, Pooja Mehta, Spondon Kundu, Kevin Han, Edgar Lobaton and Tianfu Wu Pages 453-461 (2018 Proceedings of the 35th ISARC, Berlin, Germany, ISBN 978-3-00-060855-1, ISSN 2413-5844) Abstract: One major challenges a real-time autonomous robotic system construction monitoring is to simultaneously localize, map, navigate...

Camera-equipped unmanned vehicles (UVs) have received a lot of attention in data collection for construction monitoring applications. To develop an autonomous platform, the UV should be able to process multiple modules on embedded platform. Pixel-wise semantic segmentation provides with ability contextually aware its surrounding environment. However, case mobile robotic systems limited computing resources, large size model and high memory usage requires which major challenge UVs. overcome...

An autonomous robot that can monitor a construction site should be able to contextually detect its surrounding environment by recognizing objects and making decisions based on observation. Pixel-wise semantic segmentation in real-time is vital building an mobile robot. However, the learning models’ size high memory usage associated with are main challenges for robotics systems have limited computing resources. To overcome these challenges, this paper presents efficient method named LNSNet...

One of the major challenges a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over lifetime robot, with little or no human intervention. Past research on Simultaneous Localization Mapping (SLAM) context-awareness are two active areas in computer vision robotics communities. The studies that integrate both into single modular framework still need further investigation. A monocular scene understanding computationally heavy...

Over the past few years, there have been many efforts to increase degree of automation and frequency data collection for construction applications using unmanned aerial/ground vehicles (UAV/UGV). However, current practice is traditionally performed, which manual, costly, time-consuming, error-prone. The vision-based mobile robotic platforms suffer from a series performance issues such as being inefficient autonomous navigation in cluttered indoor scenes with objects on grounds, where some...

Research indicates that workers often fail to recognize a significant proportion of safety hazards. To reduce injury likelihood, efforts have traditionally focused on developing and delivering training interventions. Despite such efforts, desirable levels hazard recognition are rarely achieved. Therefore, augmenting human abilities with technology-driven solution improve overall can yield substantial benefits. Accordingly, the objective this study is develop method for localizing respect...

To fill the lack of research efforts in virtual assembly modules and training, this paper presents a manipulation building objects an Immersive Virtual Environment (IVE). A worker wearing Reality (VR) head-mounted device (HMD) virtually perform multiple while identifying any issues. Hand motions are tracked by motion sensor mounted on HMD. The can be graded based his/her overall performance speed during VR simulation. developed simulation ultimately enable workers to identify unforeseen...