Mobile Sensor Platform for Construction Metrology and Automation: Design and Initial Results.
Mobile Sensor Platform for Construction Metrology and
Automation: Design and Initial Results.
Pfeffer, L. E.
Robotic Applications for the Next Millenium. Field and
Service Robotics International Conference. FSR'99.
Proceedings. August 29-31, 1999, Pittsburgh, PA,
310-315 pp, 1999.
construction; 3-D models; automation; GPS; LADAR;
protocols; spatial sensors; wireless communications
At NIST, we are creating a test-bed to support
experimental research in construction-site metrology and
automation. We are extending our previous test-bed to
include a vehicle to make measurements at construction
sites. This mobile sensor platform will incorporate
precision GPS for position and attitude sensing and
scanning LADAR for terrain mapping. The All-Terrain
Vehicle's (ATV's) sensors are managed by an on-board
computer, which communicates via wireless Ethernet.
High-bandwidth wireless communications permits use of
sensor data in ways that can significantly impact
construction productivity. Sensor data from the ATV is
already being used to update a remote 3-D world model in
real time. A related aspect of this work is the
investigation of open data formats and protocols for
exchanging spatial data. We are investigating the use
(and extension) of existing protocols (e.g., IEEE Std.
1278) to create a prototype for a standard for spatial
metrology on construction sites. This paper outlines the
design of the infrastructure system (concentrating on
the mobile sensor platform) and shows initial
experimental results from the sensors and from the
"live" 3-D site model.