SLAM 點雲圖鑑Point clouds for construction
M-01 · 2014

TLS + BIM floor flatness control

作者以 Scan-vs-BIM 原理把工地 TLS 點雲對齊 BIM，並把每個點分派給對應的樓板構件，再自動套用兩種標準平整度檢查法：直尺法（Straightedge，含隨機、方格與作者新提的星形方格三種直尺配置）與依 ASTM E1155 計算 F-number（FF 平整度、FL 水平度）。系統在兩片約 25 年的混凝土實驗室樓板上，與粉筆方格加 2 m 直尺與鋼尺的人工量測比較，作者結論是 TLS 的精度足以執行標準平整度檢查，而且量測更完整、更快。論文第 2 節整理了 BS EN 13670、BS 8204、ACI 117、ASTM E1155 等容許差來源，可作為品質檢查列的需求依據。

下游工程任務經典已讀全文同儕審查已出版營建應用研究

閱讀版本
Author preprint hosted by the Edinburgh CyberBuild lab ('Preprint submitted to Automation in Construction', dated 31 Jul 2014) read in full; version of record (Automation in Construction 44 (2014) 212-226, ScienceDirect HTML via NTU access) Sec. 7-9 and Tables 4-5 compared and found consistent
全文取得途徑
作者自存版本
本頁內容

Segments TLS points by BIM object via Scan-vs-BIM and automatically applies standard Straightedge and ASTM E1155 F-Numbers flatness control, validated against manual straightedge measurements on two concrete slabs.

技術屬性

欄位內容為文獻擷取紀錄的原文用語（英文），以原文為據；「未查證」表示本研究尚未讀到該資訊，不代表該方法不具備此能力。

感測輸入terrestrial laser scanner (FARO Focus3D)
原文測試平台static terrestrial (tripod)
狀態估計不適用
資料關聯Scan-vs-BIM: scans registered to the BIM model (Sec. 4 names the plane-based registration of Bosche (2012) [32], while Sec. 7.3 says the approach of Bosche (2010) [31] was used to register the scans and match the points); each TLS point matched to a BIM object and mesh facet by orthogonal-projection proximity and surface-normal similarity, object recognition from the covered surface; principle credited to Bosche and Haas (2008) [1] (Sec. 4, 5.1.1, 7.3)
時間表示不適用
去畸變不適用
迴圈閉合不適用
全域最佳化不適用
地圖表示point cloud matched to BIM objects
先驗資訊BIM model (Revit, exported as OBJ) of each room (Sec. 7.3)
可輸出幾何per-straightedge maximum deviations (Random, Grid-Square, novel Grid-Star generation) and FF/FL F-Numbers with 90% confidence intervals, linked to BIM objects (Sec. 5-6, 8)
計算需求hardware not reported; Grid-Square flatness control about 10 s; Random and Grid-Star under 15 s (Drainage Lab) and under 2 min (Acoustic Lab); Scan-vs-BIM 25 and 15 min and FARO Scene pre-processing 20 and 10 min, using 10% of the scan data (Sec. 8.1.2, 8.2, Table 5)

使用設備

原文使用的感測器、運算硬體與載具（equipment）。型號保留原文寫法，連結到設備頁中同一型號的歸併名稱；角色依原文用途分為方法輸入、資料集感測器、執行運算平台、參考或真值量測（reference or ground truth）與比較對象設備。

類別型號（原文寫法）角色資料集原文規格出處
地面雷射掃描儀（TLS）FARO Focus 3D方法輸入未標示range 0.6 m to 120 m; up to 976,000 points per second; ranging systematic error +/-2 mm at 10 m and 25 m; random error 0.5 mm to 2 mm at 10 m and 25 m (indicative values); scans saved as PTX with FARO Scene; high-accuracy settings made scanning about five times slower than standard(Bosché & Guenet, 2014, Sec. 2.2, 7.3, 8.1.2)
其他2 m long straightedge and precision steel rule on a chalk-line 2 m grid參考或真值量測未標示manual measurement at the same straightedge positions as the Grid-Square layout(Bosché & Guenet, 2014, Sec. 7.2)

作者報告的優勢與限制

優勢

  • Straightedge deviations from TLS agreed with manual measurements; mean differences 1.2 mm (SD 1.0) and 0.7 mm (SD 0.4) for the two slabs with no significant difference in a two-tailed t-test at alpha 0.05 (Fig. 12)
  • Using 4%, 10% or 25% of the initial point clouds did not materially change straightedge or F-Number results (Sec. 8.1.1, 8.3)
  • Many more straightedges than a manual survey could afford; equivalent manual Random or Grid-Star surveys estimated at about 35 h and 23 h (Sec. 8.2)
  • Results link to BIM objects and are repeatable by other stakeholders (Sec. 9)
  • With 230 straightedges each on the Acoustic Lab slab (320 each on the Drainage Lab slab), the Random and Grid-Star methods found maximum deviations of 11.3 and 11.4 mm versus 7.6 mm with Grid-Square on the Acoustic Lab slab, identifying a non-compliant area (100% global flatness tolerance 10 mm) that Grid-Square missed (Sec. 8.2, Fig. 13)
  • The whole TLS workflow took about 1 h 50 min and 1 h versus 3 h (17 straightedges) and 1.5 h (10 straightedges) for manual Grid-Square control (Sec. 8.1.2, Table 5)

限制

  • Two straightedges showed notable manual-versus-TLS differences whose cause (manual or scanning error) is unclear (Sec. 8.1.1)
  • F-Numbers agreement with 3 m straightedge equivalences was weaker for one slab and needs further validation (Sec. 8.3, Sec. 9)
  • Only two aged laboratory floor slabs tested (Sec. 7.1)
  • Aligning TLS scans with the BIM may need user input (Sec. 3)
  • Scanner error figures are indicative and depend on material and incidence angle (Sec. 2.2)
  • (inference) Evidence is for static TLS; whether SLAM point clouds with centimetre-level noise and drift support the same decisions is untested
  • Half of the TLS workflow time was scanning, with high-accuracy settings about five times slower than standard settings (Sec. 8.1.2)
  • Grid-Square straightedges missed a non-compliant area that Random and Grid-Star detected, so a standard sparse layout can under-report defects (Sec. 8.2)

營建工程相關證據

已完工建物中兩片約 25 年的混凝土實驗室樓板（Heriot-Watt 大學，6.40 m × 6.70 m 與 4.80 m × 8.10 m 區段），以人工直尺為獨立參考並比對合格判定；非施工中工地，也非 SLAM 點雲。是本批次紀錄中唯一具標準化判定與獨立參考的任務方法錨點；是否為全語料中唯一未經系統檢索確認（推論）。

原文驗證環境：已完工建築、獨立參考量測、任務層驗證

報告的性能數據

以下是原文作者報告的性能數值（author-reported results），不是本研究重新量測的結果。每張圖只並列同一個比較組（comparison group，同一張表、同一組實驗設定）內的方法；不同比較組之間的數值不可直接比較，也不構成排名。

本方法共出現在 6 個比較組，合計 39 筆紀錄。以下列出本方法紀錄最多的 4 組，其餘 2 組列在最後，並連到性能比較頁。

Bosché & Guenet, 2014 · Fig. 13 tables 本方法 12 筆

表格設定（擷取紀錄原文）：Maximum and mean 2 m straightedge deviations from the TLS-based system for three straightedge generation methods; Random uses as many straightedges as Grid-Star (230 Acoustic, 320 Drainage); 100% global flatness tolerance 10 mm (Bosché & Guenet, 2014, Fig. 13 tables)

Deviation (mm) Max.，own TLS scans (FARO Focus3D) · Acoustic Lab slab 6.40 m x 6.70 m, two co-registered scans

只並列這張表在相同設定下報告的方法；以「本方法：」開頭者為本頁方法。失敗、未執行與未報告以標記呈現，不是 0。

這些是 Bosché & Guenet, 2014 在此表設定下報告的數值（author-reported results），只能在同一個比較組內對照，不代表方法在其他資料或設定下的表現。

統計量：最大值（max）；對齊方式：原文未報告；單位：mm；場景：completed building: about 25-year-old concrete laboratory floor slabs, Heriot-Watt University

資料來源作者報告值(Bosché & Guenet, 2014, Fig. 13 tables)

數值與出處
方法（原文寫法）報告值出處
Straightedge Grid-Square本方法原文提出7.6 mm(Bosché & Guenet, 2014, Fig. 13 embedded tables (author preprint))
Straightedge Random本方法原文提出11.3 mm(Bosché & Guenet, 2014, Fig. 13 embedded tables (author preprint))
Straightedge Grid-Star (proposed pattern)本方法原文提出11.4 mm(Bosché & Guenet, 2014, Fig. 13 embedded tables (author preprint))

Bosché & Guenet, 2014 · Fig. 12 tables 本方法 10 筆

表格設定（擷取紀錄原文）：Grid-Square straightedge (2 m) deviations from the TLS-based system (10% of the initial scans) compared with manual chalk-grid straightedge and steel-rule measurements; paired two-tailed t-test (alpha 0.05, unequal variance as written) (Bosché & Guenet, 2014, Fig. 12 tables)

Difference in straightedge deviation, TLS vs manual: Mean，own TLS scans (FARO Focus3D) · Acoustic Lab slab 6.40 m x 6.70 m, two co-registered scans

這張表在此指標與資料序列只列出本方法一筆，沒有可並列的其他方法，因此不畫圖，數值與出處見下表。這是 Bosché & Guenet, 2014 在此表設定下報告的數值（author-reported results），不代表方法在其他資料或設定下的表現。

統計量：平均值（mean）；對齊方式：原文未報告；單位：mm；場景：completed building: about 25-year-old concrete laboratory floor slabs, Heriot-Watt University

數值與出處
方法（原文寫法）報告值出處
Straightedge Grid-Square (TLS-based, Scan-vs-BIM)本方法原文提出1.2 mm(Bosché & Guenet, 2014, Fig. 12 embedded tables (author preprint))

Bosché & Guenet, 2014 · Table 5 本方法 10 筆

表格設定（擷取紀錄原文）：Approximate durations of the TLS-based control procedure; processing with 10% of the original scan data; hardware not reported (Bosché & Guenet, 2014, Table 5)

duration: Scan pre-processing (Faro Scene)，own TLS scans (FARO Focus3D) · Acoustic Lab slab 6.40 m x 6.70 m, two co-registered scans

這張表在此指標與資料序列只列出本方法一筆，沒有可並列的其他方法，因此不畫圖，數值與出處見下表。這是 Bosché & Guenet, 2014 在此表設定下報告的數值（author-reported results），不代表方法在其他資料或設定下的表現。

統計量：原文未報告；對齊方式：未對齊；單位：min；場景：completed building: about 25-year-old concrete laboratory floor slabs, Heriot-Watt University

數值與出處
方法（原文寫法）報告值出處
TLS-based system (Scan-vs-BIM + Straightedge Grid-Square)本方法原文提出20 min(Bosché & Guenet, 2014, Table 5)

Bosché & Guenet, 2014 · Fig. 14 tables 本方法 4 筆

表格設定（擷取紀錄原文）：F-Numbers from the TLS-based ASTM E1155 implementation (10% of the initial TLS data, 90% confidence interval in brackets) compared with the maximum deviation of 3 m Grid-Star straightedges (Bosché & Guenet, 2014, Fig. 14 tables)

Straightedge (3 m Grid-Star) maximum deviation，own TLS scans (FARO Focus3D) · Acoustic Lab slab 6.40 m x 6.70 m, two co-registered scans

這張表在此指標與資料序列只列出本方法一筆，沒有可並列的其他方法，因此不畫圖，數值與出處見下表。這是 Bosché & Guenet, 2014 在此表設定下報告的數值（author-reported results），不代表方法在其他資料或設定下的表現。

統計量：最大值（max）；對齊方式：原文未報告；單位：mm；場景：completed building: about 25-year-old concrete laboratory floor slabs, Heriot-Watt University

數值與出處
方法（原文寫法）報告值出處
Straightedge Grid-Star, 3 m本方法原文提出10.8 mm(Bosché & Guenet, 2014, Fig. 14 embedded tables (author preprint))

其他比較組

列出其餘 2 個比較組

來源

  • Bosché & Guenet, 2014

    Frédéric Bosché, Emeline Guenet（2014）Automating surface flatness control using terrestrial laser scanning and building information modelsAutomation in Construction, 44, 212-226

    DOI 10.1016/j.autcon.2014.03.028

    同儕審查已出版已讀全文經典查證後修正

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