Rapid Geometric Modeling for Unstructured Construction Workspaces

: Unstructured workspaces which are typical in construction contain unpredictable activities as well as changing environments. Most automated and semi-automated construction tasks require real-time information about the local workspace in the form of 3D geometric models. This article describes and demonstrates a new rapid, local area, geometric data extraction and 3D visualization method for unstructured construction workspaces that combines human perception, simple sensors, and descriptive CAD models. The rapid approach will be useful in construction to optimize automated equipment tasks and to significantly improve safety and a remote operator's spatial perception of the workspace.