Prototipo para levantamiento arquitectónico: Desarrollo y evaluación caso de estudio del Hospital Metropolitano de Tunja

Abstract

This article describes the development and implementation of a compact and portable prototype for the survey of a point cloud of the Metropolitan Hospital of Tunja, Colombia, as a result of the SENNOVA project called “Development of preliminary diagnoses in existing buildings from the merger of 4 remote sensing technologies: laser scanner, photogrammetry, thermography and ground penetrating radar, through information models (BIM)”, developed by the collaboration of the Industrial Center for Maintenance and Manufacturing (Sena Regional Boyacá). Key components of this solution include a Hesai lidar, a 9-axis inertial unit (IMU), and a UP4000 computer. The construction of the point cloud was carried out through the implementation of LIO-SAM, which is developed in the ROS framework.
Data acquisition was performed in three different configurations of the LIDAR and the IMU. This approach sought to determine the most effective orientation to achieve a complete and accurate representation. Simultaneously, tests were carried out by modifying the closed loop parameter in LIO-SAM and running the software on both the UP4000 and an external computer.
The results revealed that the configuration that minimizes the error is achieved by positioning the LIDAR and IMU horizontally, with the Z axis oriented vertically. However, the need for additional tests to comprehensively evaluate the influence of the closed-loop parameter was highlighted. In addition, it was observed that the UP4000 has sufficient processing capacity to execute LIO-SAM, although the simultaneous execution of more processes could affect the results obtained.