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

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European Robotics Forum 2024 (ERF 2024)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 32))

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Abstract

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.

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References

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Acknowledgment

This work has been supported by the EU Horizon Europe funded project “RobetArme” under the GA No: 101058731. We extend our gratitude to Christiansen & Essenbaek A/S (CEAS) for providing access to their mock-up construction site premises for data acquisition.

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Correspondence to Dimitrios Alexiou .

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Katsatos, D., Alexiou, D., Kontodina, T., Kostavelis, I., Giakoumis, D., Tzovaras, D. (2024). Real-Time 3D Reconstruction Adapted for Robotic Applications in Construction Sites. In: Secchi, C., Marconi, L. (eds) European Robotics Forum 2024. ERF 2024. Springer Proceedings in Advanced Robotics, vol 32. Springer, Cham. https://doi.org/10.1007/978-3-031-76424-0_44

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