CN116091721A - Building construction monitoring method, equipment and storage medium based on three-dimensional point cloud - Google Patents
Building construction monitoring method, equipment and storage medium based on three-dimensional point cloud Download PDFInfo
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Abstract
The invention provides a building construction monitoring method, equipment and storage medium based on three-dimensional point cloud, which relate to the technical field of building engineering informatization supervision and comprise the following steps: generating a three-dimensional point cloud of a building to be simulated, fitting basic building shapes based on the three-dimensional point cloud of the building to be simulated, generating a construction elevation index if a point cloud subset conforming to basic building shape distribution exists in the three-dimensional point cloud of the building to be simulated, and if the point cloud subset occupies the point ratio of the three-dimensional point cloud of the building to be simulated, compared with the existing building construction progress monitoring methods, the three-dimensional point cloud is relied on to identify the elevation index applicable to reflecting the construction progress, the point cloud is not required to be removed under manual intervention, the fully-automatic point cloud registration process with great complexity is omitted, the operation of processing alternative data is omitted, and the simplicity of monitoring the building construction progress is greatly improved.
Description
The application is a divisional application of Chinese patent application 202211062396.3 with the name of 'three-dimensional point cloud-based building construction monitoring method, device, equipment and product' proposed by 2022, 9 and 1.
Technical Field
The invention relates to the technical field of building engineering informatization supervision, in particular to a building construction monitoring method, equipment and storage medium based on three-dimensional point cloud.
Background
Typically, at a construction site, building entities that have been constructed but have not yet been completed are under construction, underground building parts (e.g., foundations and underground parking lots, etc.) and above-ground building parts (e.g., walls, columns, floor boards, beams, roofs, etc.) are constructed in stages, and in view of construction period, safety, stability, etc., it is important to monitor the progress and quality of the construction, and the under construction is monitored by means of intelligent measuring instruments and information processing programs, so that time and effort are saved, which helps to rationalize the progress of the construction or/and to find the quality of the construction as early as possible.
Some building construction monitoring methods focus on construction progress or quality, where the construction progress monitoring methods generally require at least two of three-dimensional point clouds, images, BIM models, and construction plan charts, focusing on time dimension or/and height or/and indoor and outdoor progress differences, for example, identifying which of advance, retard, and normal construction progress is or which of not yet planned construction and completed construction is; the construction quality monitoring method is additionally used by instruments and programs different from the construction progress monitoring method, and focuses on the inclination or deviation of the building, for example, the inclination detection device is vertically arranged on a building wall body to automatically measure the inclination of the building under construction and alarm when the inclination is excessive, or after the deviation distance of the building is measured by using a radar, the deviation distance is compared with a reference distance value, so that the building deviation is obtained.
However, the existing building construction monitoring methods have a number of drawbacks: firstly, a construction site can have complexity, three-dimensional point clouds are difficult to be completely reflected in a building under the condition of sundry interference, the sundry point interference is obvious, the sundry points are removed under the condition of manual interference, error leakage is easy, the efficiency is low, and the complexity is high by adopting a full-automatic point cloud registration algorithm, so that the monitoring difficulty is high; secondly, the construction progress and quality are separately monitored, compatibility is lacked, monitoring complexity and cost are improved, and popularization and application are not facilitated.
Disclosure of Invention
The present invention aims to solve the technical problems in the related art at least to a certain extent, and to achieve the above objective, the present invention provides a three-dimensional point cloud-based building construction monitoring method, a computing device and a computer readable storage medium.
In a first aspect, the present invention provides a building construction monitoring method based on three-dimensional point cloud, including:
generating a three-dimensional point cloud suitable for indicating a building to be simulated under construction;
building basic shapes are built based on the fitting of the three-dimensional point clouds of the building to be built, and a point cloud subset obeying the distribution of the building basic shapes exists in the three-dimensional point clouds of the building to be built;
and if the point number ratio of the point cloud subset to the three-dimensional point cloud of the building to be simulated is not lower than a preset threshold value, generating a construction elevation index aiming at the basic building body.
In a second aspect, the present invention provides a computing device comprising: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the building construction monitoring method based on the three-dimensional point cloud in the first aspect when executing the computer program.
In a third aspect, the present invention provides a computer readable storage medium comprising a computer program executable by a processor, the computer program implementing the three-dimensional point cloud based building construction monitoring method of the first aspect when executed.
Compared with the existing some building construction progress monitoring methods, the building construction progress monitoring method based on the three-dimensional point cloud can identify elevation indexes suitable for reflecting construction progress without removing miscellaneous points from the point cloud under manual intervention, omits a fully-automatic point cloud registration process with great complexity, omits an operation of processing at least one piece of alternative data in an image/three-dimensional building model/construction schedule, and greatly improves the simplicity of monitoring the building construction progress.
Drawings
FIG. 1 is a schematic flow chart of a building construction monitoring method based on three-dimensional point cloud according to an embodiment of the invention;
FIG. 2 is a schematic flow chart of another building construction monitoring method based on three-dimensional point cloud according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of the geometry of three points projected onto an axis according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of another three-dimensional point cloud-based building construction monitoring method according to an embodiment of the invention;
FIG. 5 is a schematic flow chart of another building construction monitoring method based on three-dimensional point cloud according to an embodiment of the invention;
FIG. 6 is a schematic diagram of the geometry of a pre-designed cylinder and an in-building basic form in a point cloud coordinate system according to an embodiment of the present invention;
fig. 7 is a schematic architecture diagram of a building construction monitoring device based on a three-dimensional point cloud according to an embodiment of the present invention;
FIG. 8 is a circuit schematic of a computing device according to an embodiment of the invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the drawings, wherein like reference numerals in different drawings denote like or similar elements unless otherwise indicated. It is noted that the implementations described in the following exemplary examples do not represent all implementations of the invention. They are merely examples of apparatus and methods consistent with aspects of the present disclosure as detailed in the claims and the scope of the invention is not limited thereto. Features of the various embodiments of the invention may be combined with each other without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "estimate" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Referring to fig. 1, a three-dimensional point cloud-based building construction monitoring method according to an embodiment of the present invention includes S1 to S3.
S1, generating a three-dimensional point cloud suitable for indicating a building to be simulated under construction.
Optionally, S1 includes: inputting an actual measurement building three-dimensional point cloud obtained by implementing three-dimensional point cloud measurement on an on-building, and performing centroid removal conversion on the actual measurement building three-dimensional point cloud to obtain a to-be-simulated building three-dimensional point cloud.
In some embodiments, specific ways to implement three-dimensional point cloud measurements for an on-building may include, but are not limited to: through at least one of three-dimensional point cloud acquisition equipment such as three-dimensional laser scanner, binocular depth camera and stereo camera, at least one three-dimensional point cloud acquisition equipment can carry on unmanned aerial vehicle or ground running gear, and for example, ground running gear can be shallow or AGV dolly or other running gear, and this application embodiment does not restrict the concrete form to the three-dimensional point cloud of building acquisition.
The barycenter point coordinates of the three-dimensional point cloud are determined, each point coordinate in the three-dimensional point cloud is used for subtracting the barycenter point coordinates, namely barycenter conversion is achieved, the real coordinates are hidden for the three-dimensional point cloud, any two points in the three-dimensional point cloud are reduced in an equivalent mode on the basis of maintaining the relative position unchanged, follow-up processing of the three-dimensional point cloud is facilitated, and the calculation amount of the point cloud is reduced.
S2, building basic shapes are built based on three-dimensional point cloud fitting of the building to be simulated, and a building shape and point cloud association result is obtained.
Wherein the building under construction basic shape may be any one of a cube, sphere, cone and cylinder, the building shape and point cloud association result is adapted to indicate that there is a subset of point clouds in the three-dimensional point cloud to be built that obeys the building basic shape distribution.
Optionally, S2 includes: and combining a preset cylinder detection model and a three-dimensional point cloud of a building to be simulated, and iteratively fitting the cylinder to obtain a cylinder fitting index set suitable for indicating the basic body of the building to be built to be the cylinder and a point cloud subset with the maximum points.
In some embodiments, some parameters suitable for iteratively fitting the cylinder may be set in advance in a random sample consensus algorithm (RANSAC) to form a preset cylinder detection model, for example, n may be 3 or other values, k may be 10000 or other values, t may be 1 cm or other values, and the numerical combination is not limited, see the following table.
In some embodiments, the three-dimensional point cloud of the building to be simulated is input into a preset cylinder detection model, and through multiple fitting, an optimal cylinder and the point cloud subset obeying the distribution of the optimal cylinder are generated, for example, i can be 43521 or other values, the point cloud subset of the i maximum and the cylinder fitting index set which is optimally matched with the point cloud subset of the i maximum can be output together, and in addition, i can be output together to form a correlation result of the building body and the point cloud.
In some embodiments, the cylinder fit index set includes at least one point P passing through the axis 0 And axial amount, in addition, may also include r, e.g., P 0 May be expressed as (48.8258, 17.7809,2.73465), the axial vector may be expressed as (-0.0052, -0.0184,0.9998), r may be 3.3707 or other value, P 0 Other representations and other specific values are also possible for each Ad, and are not limited herein.
For any point in the point cloud, the directions can be considered as interior points if the perpendicular distance of the mark projected on the axis of the cylinder is d, d and r and t should satisfy |d-r| less than or equal to t, otherwise, as exterior points.
Compared with any one of cubes, spheres and cones, fewer fitting parameters are needed for the cylinders, so that the three-dimensional point cloud to be built is divided into a point cloud subset (called an inner point subset) distributed from the cylinders and a point cloud subset (called an outer point subset) not conforming to the distribution of the cylinders, and the simplicity and the accuracy of point cloud division are considered.
And S3, identifying at least one construction elevation index based on the association result of the building body and the point cloud.
Optionally, referring to fig. 2, in another embodiment of the present invention, a three-dimensional point cloud based building construction monitoring method, S3 includes: s31 to S34.
S31, detecting whether the point number ratio of the point cloud subset obeying the cylinder to the three-dimensional point cloud of the building to be simulated is lower than a preset threshold value, if yes, executing S32, and if not, executing S33.
In some embodiments, the association result of the building body and the point cloud may include an inner point subset with the largest number of points and a cylinder fitting index set suitable for indicating the cylinder to which the inner point subset is subjected, counting the number i of the inner point subset, and counting the number m of the three-dimensional point cloud to be built, where i/m is the point ratio, or the association result of the building body and the point cloud may further include i, which is helpful for improving the point ratio detection efficiency compared with the lack of i in the association result of the building body and the point cloud.
In some embodiments, the preset threshold is between 0.5 and 1, e.g., 0.55 or 0.7 or other values.
In practice, when the height of the building under construction is lower, the foundation plane is more prominent than the building height, so that a plurality of miscellaneous points are more likely to appear, the three-dimensional point cloud is distributed on and near a certain horizontal plane in a plurality of points, and the included angle between the axis of the cylinder and the vertical line is larger than the included angle between the cylinder and the horizontal plane (which can be called as a lateral state); when the building under construction is higher, the building height is more prominent than the foundation plane, the proportion of mixed points is reduced, the three-dimensional point cloud is distributed along the vertical direction at a plurality of points, and the included angle between the axis of the cylinder and the vertical line is smaller than the included angle between the cylinder and the horizontal plane (which can be called as a state of partial vertical).
Under the condition that the dot ratio is lower than a preset threshold value, the dot ratio can be reflected to be higher, the inner dot subset is smaller than the outer dot subset, and the cylinder is in a lateral state; under the condition that the dot ratio is larger than or equal to a preset threshold value, the dot ratio can be reflected to be lower, the inner dot subset is larger than the outer dot subset, and the cylinder is in a vertical state.
And S32, taking a preset index which is suitable for indicating that the building under construction does not exceed the elevation of the foundation as a construction height Cheng Zhibiao.
For some building under construction, such as a single storey house or a building, the height of the foundation and a certain reference position above the foundation may be referred to as the base height, the base height may be proportional to the design height to be achieved after the building under construction is designed in advance, for example, the base height may be 8.5% or 30% or 40% or other value, the proportion may be adaptively changed according to the building type, and the base height may be independent of the design height, for example, 2.5 meters may be fixed.
In some embodiments, the preset index may be in the form of "the height at which the under-construction building has been constructed is lower than or equal to the base height" or "2.5 meters" or "the height at which the under-construction building has been constructed is lower than or equal to the base height, 2.5 meters", etc., which can be distinguished from the estimated column height described below.
S33, combining the cylinder fitting index set and the point cloud subset to respectively determine the center of the estimated column top and the center of the estimated column bottom which belong to the basic body of the building.
Wherein the estimated column height is adapted to indicate that the building under construction has exceeded the base elevation, the pre-designed cylinder is adapted to indicate the basic shape after completion of the building under construction, and the column height difference is adapted to indicate the remaining elevation to be followed by the building under construction.
The method is controlled by a point proportion detection mode, and under the condition that the cylinder is in an inclined vertical state, the cylinder fitting index set and the point cloud subset are combined, so that the cylinder top circle center and the cylinder bottom circle center are respectively positioned for the cylinder, the defect that the circle center positioning performance suitable for respectively positioning the cylinder top circle center and the cylinder bottom circle center is lacking in the cylinder fitting process is overcome, and the circle center positioning performance is prevented from being triggered by mistake under the condition that the cylinder is in an inclined horizontal state.
Optionally, S33 includes: and respectively determining projection points of each point in the point cloud subset on the axis of the basic building body according to the cylinder fitting index set, and respectively identifying two projection points with the largest distance as an estimated column top circle center and an estimated column bottom circle center.
In some embodiments, according to P above 0 And the axial vector is used for positioning an axis for a cylinder in a point cloud coordinate system, and each point in the inner point subset is projected on the axis, wherein along the vertical direction expressed by a Z coordinate axis, the projection point with the largest coordinate is an estimated column top circle center, and the projection point with the smallest coordinate is an estimated column bottom circle center.
Illustratively, referring to FIG. 3, in a point cloud coordinate system represented in XYZ, three points in the interior point subset are labeled P in turn 1 、P 2 And P 3 The three points are respectively projected on the Axis of the cylinder, and the three projection points are marked as P in turn 1 ＇ 、P 2 ＇ P 3 ＇ Projection point P 1 ＇ And point P 1 Vertical distance d between 1 Less than r, projection point P 2 ＇ And point P 2 Vertical distance d between 2 Greater than r, |d 1 -r|and |d 2 R| are all smaller than t, projection point P 3 ＇ And point P 3 Vertical distance d between 3 Equal to r.
And the center of the estimated column top and the center of the estimated column bottom are synchronously positioned on the axis by adopting a point projection mode, so that the accuracy and the simplicity of positioning the two centers are facilitated.
S34, detecting the estimated column height between the estimated column bottom circle center and the estimated column top circle center to serve as a construction height Cheng Zhibiao.
Optionally, referring to fig. 4, in another embodiment of the present invention, a three-dimensional point cloud based building construction monitoring method, S3 further includes: s35, acquiring a preset cylinder; s36, detecting a column height difference value between a design column height H2 to which the preset design cylinder belongs and an estimated column height H1, and taking the column height difference value as a construction height Cheng Zhibiao.
Optionally, referring to fig. 5, in another embodiment of the present invention, a three-dimensional point cloud based building construction monitoring method is provided, wherein two construction elevation indexes are respectively estimated column height and a column height difference value.
For example, referring to fig. 6, the column height difference value may be expressed as: design column height H2-estimate column height H1.
Compared with the existing building construction progress monitoring methods, the elevation index suitable for reflecting the construction progress can be identified by depending on the three-dimensional point cloud, the miscellaneous points are not required to be removed from the point cloud under manual intervention, the extremely complicated full-automatic point cloud registration process is omitted, the operation of processing at least one piece of alternative data in the image/three-dimensional building model/construction schedule is omitted, and the simplicity of monitoring the building construction progress is greatly improved.
Optionally, referring to fig. 5, after S35, the building construction monitoring method based on the three-dimensional point cloud further includes S4A.
S4A, detecting the circle center distance between the center of the bottom of the design column, to which the preset design cylinder belongs, and the center of the estimated bottom of the column, and using the circle center distance as a construction offset index.
Illustratively, referring to FIG. 6, an estimated bottom centroid is denoted as P 2 ＇ Designing a column bottom circle center to be Pb, and obtaining S= |P 2 ＇ Pb, let centre of a circle distance S be construction offset index, if this construction offset index is greater than the offset threshold value of predetermineeing, then reflect and build building horizontal offset exceeds standard, need rectify the change, otherwise, reflect and build building horizontal offset qualification, need not rectify the change.
Optionally, referring to fig. 5, after S35, the building construction monitoring method based on the three-dimensional point cloud further includes S4B.
S4B, detecting an axle clamping angle between an axle to which the pre-designed cylinder belongs and an axle to which the basic body of the building belongs, and taking the axle clamping angle as a construction inclination index.
In some embodiments, referring to FIG. 6, the cylinder top center P may be estimated 1 ＇ Subtracting the estimated column bottom center of circle P from the three-dimensional coordinates of (2) 2 ＇ To obtain the axial quantity
1 Similarly, the three-dimensional coordinates of the center Pa of the top of the design column can be subtracted from the three-dimensional coordinates of the center Pb of the bottom of the design column to obtain an axial vector +.>
2 Furthermore, the axial vector is determined>
1 Is in line with the axial quantity->
2 The axial angle theta between the building body and the point cloud, or the axial quantity in the correlation result of the building body and the point cloud can be directly used as +.>
1 And the angle measurement efficiency is improved.
Illustratively, the shaft clamping angle θ may be expressed as follows:
θ=arccos[(
1 ·/>
2 )/(|/>
1 |×|/>
2 |]alternatively, θ=arctan [ | (k) 1 -Κ 2 )/(1+Κ 1 ×Κ 2 )|]
Wherein, K 1 Representing the slope possessed by an axis located on the basic form of the building under construction 2 The representation is located in a pre-designedThe axis on the cylinder has a slope.
Compared with the existing building construction quality monitoring methods, the method has the advantages that the purpose of construction deviation detection is achieved by adopting a distance measurement mode, or/and the purpose of construction inclination detection is achieved by adopting an angle measurement mode, some data required by detection of construction elevation are prolonged, compatibility and simplicity of monitoring construction progress and quality are improved, and monitoring cost and popularization and application are reduced.
Referring to fig. 7, a three-dimensional point cloud-based building construction monitoring device according to another embodiment of the present invention includes a building point cloud generating module, a building shape fitting module, and a construction index detecting module.
The building point cloud generation module is used for generating a three-dimensional point cloud suitable for indicating a building to be simulated under construction.
And the building shape fitting module is used for fitting the basic building shape based on the three-dimensional point cloud of the building to be fitted so as to obtain the association result of the building shape and the point cloud.
And the construction index detection module is used for identifying construction elevation indexes based on the association result of the building body and the point cloud.
Referring to fig. 8, a computing device according to another embodiment of the present invention includes a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor, when executing the computer program, implements the three-dimensional point cloud-based building construction monitoring method, and the processor may be connected to the memory through a universal serial bus. It is understood that the foregoing computing device may be a server or a terminal device.
A computer readable storage medium according to another embodiment of the present invention includes a computer program executable by a processor, which when executed, implements the three-dimensional point cloud-based building construction monitoring method described above.
In the embodiments of the present application, not limited to the specific form of the computer program product, may include, but is not limited to: the building information application/presentation program (demo)/applet/program class/macro, etc., can also take the form of a computer program product embodied on one or more computer-readable storage media having computer-usable program code embodied therein.
The computer program product may include one or more computer-executable components configured to perform embodiments when the program is run, the one or more computer-executable components may be at least one software code or a portion thereof, and further, any blocks of logic flows as shown may represent program steps, or interconnected logic circuits, blocks and functions, or a combination of program steps and logic circuits, blocks and functions.
In general, computer instructions to implement the methods of the present invention may be carried by any combination of one or more computer-readable storage media, either temporary or non-temporary, which may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or apparatus, or combinations of any of the above.
The computer readable storage medium may be any tangible medium containing a stored program, more specific examples (a non-exhaustive list) including: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The program may be used by or in conjunction with an instruction execution system, apparatus, or device to write computer program code for performing the operations of the present invention in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages, in particular the Python language suitable for neural network computing and TensorFlow, pyTorch-based platform frameworks may be used. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or to an external computer (for example, through the Internet according to an Internet service provider).
The building construction monitoring device, the computing device and the computer readable storage medium based on the three-dimensional point cloud can be referred to the concrete description of the building construction monitoring method based on the three-dimensional point cloud and the beneficial effects thereof, and are not repeated here.
While embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (7)
1. The building construction monitoring method based on the three-dimensional point cloud is characterized by comprising the following steps of:
generating a three-dimensional point cloud suitable for indicating a building to be simulated under construction;
building basic shapes are built based on the fitting of the three-dimensional point clouds of the building to be built, and a point cloud subset obeying the distribution of the building basic shapes exists in the three-dimensional point clouds of the building to be built;
and if the point number ratio of the point cloud subset to the three-dimensional point cloud of the building to be simulated is not lower than a preset threshold value, generating a construction elevation index aiming at the basic building body.
2. The three-dimensional point cloud based building construction monitoring method of claim 1, wherein the building basic form is a cylinder adapted to be represented by a cylinder fitting index set;
the generating the construction elevation index comprises the following steps: respectively determining an estimated column top circle center and an estimated column bottom circle center which belong to the basic building body by combining the cylindrical fitting index set and the point cloud subset; and detecting the estimated column height between the center of the estimated column bottom and the center of the estimated column top to serve as the construction elevation index.
3. The method for monitoring the construction of the building based on the three-dimensional point cloud according to claim 2, wherein the combining the cylinder fitting index set and the point cloud subset to respectively determine the estimated top circle center and the estimated bottom circle center belonging to the basic building body comprises: respectively determining projection points of each point in the point cloud subset to the axis of the basic building body according to the cylindrical fitting index set; and respectively identifying the two projection points with the largest distance as the center of the estimated column top and the center of the estimated column bottom.
4. A three-dimensional point cloud based building construction monitoring method according to any one of claims 1-3, further comprising, after the generating the construction elevation index: and generating a construction offset index.
5. A three-dimensional point cloud based building construction monitoring method according to any one of claims 1-3, further comprising, after the generating the construction elevation index: and generating a construction inclination index.
6. A computing device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the three-dimensional point cloud based building construction monitoring method of any of claims 1-5.
7. A computer readable storage medium comprising a computer program executable by a processor, wherein the computer program, when executed, implements the three-dimensional point cloud based building construction monitoring method of any of claims 1-5.
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| US9852238B2 (en) * | 2014-04-24 | 2017-12-26 | The Board Of Trustees Of The University Of Illinois | 4D vizualization of building design and construction modeling with photographs |
| CN108663029B (en) * | 2018-02-01 | 2021-04-06 | 深圳市建设综合勘察设计院有限公司 | Method for acquiring underwater cylindrical foundation pile information, storage medium and terminal |
| US11288412B2 (en) * | 2018-04-18 | 2022-03-29 | The Board Of Trustees Of The University Of Illinois | Computation of point clouds and joint display of point clouds and building information models with project schedules for monitoring construction progress, productivity, and risk for delays |
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| CN111598823B (en) * | 2020-05-19 | 2023-07-25 | 北京数字绿土科技股份有限公司 | Multisource mobile measurement point cloud data space-ground integration method and storage medium |
| CN113124782B (en) * | 2021-04-14 | 2022-09-20 | 重庆市勘测院 | Construction perpendicularity detection method based on point cloud tolerance self-adaption |
| CN113538373A (en) * | 2021-07-14 | 2021-10-22 | 中国交通信息科技集团有限公司 | Construction progress automatic detection method based on three-dimensional point cloud |
| CN113804118B (en) * | 2021-08-16 | 2022-11-25 | 长江水利委员会长江科学院 | Building deformation monitoring method based on three-dimensional laser point cloud geometric features |
| CN113888712B (en) * | 2021-09-10 | 2024-06-14 | 上海建工集团股份有限公司 | Construction deviation analysis method for building structure |
| CN113920269A (en) * | 2021-10-19 | 2022-01-11 | 平安国际智慧城市科技股份有限公司 | Project progress obtaining method and device, electronic equipment and medium |
| CN114419112A (en) * | 2022-01-20 | 2022-04-29 | 广联达科技股份有限公司 | Building construction height identification method and device and electronic equipment |
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