Adapting SICK PLS 101 laser scanner for 3D interior modelling data collection

Abstract

This paper highlights on the process of optimizing a SICK PLS 101 laser scanner sensor to collect 3D data of building interiors. The sensor, which is an industrial-based, is used to perform tasks like inspection, metrology and safety. 3D modelling of building interiors has gained a lot of interest recently, and the model can be used as the 3D as-built and assist facility management processes, as well as for preserving and conservation of old important buildings. On the other hand, not all sensors are capable of generating suitable data that can be used to produce the 3D model. LIDAR for example, is the preferred sensor in collecting interior data, but is prohibitive to some due to its cost. In addition to that, it usually comes with its own programme to collect the data, which can lead towards standardization issues. Other system like stereo vision can also be used; however it has limitations when handling occlusion and clutter while capturing in-use interior data. Thus, utilizing a SICK PLS 101 laser scanner to collect 3D interior data will provide a low cost solution in producing 3D interior models. The laser sensor can only scan in 2D for 180° horizontal area, yet by installing a servo motor, it is able to scan a hemispherical area in one operation. The overall system is sufficient to gather 3D data of a building interior – it can handle occlusions and clutter within an interior, is able to produce a standard ASCII file as well as generating output with adequate resolution, which can also solve the issues of standardization and the massive datasets created by LIDAR. As a conclusion, by optimizing a SICK PLS 101 laser scanner, we are able to produce a low cost, low level solution to gather 3D data of building interiors. Due to the restriction in cost and features of other sensors, the capability to utilize this sensor is appreciated.