Developing BIM-Based Construction Quality Inspection of Indoor Building Structures Using Mobile Ground Robotics and LiDAR

Construction quality inspection plays a vital role in mitigating the risks of cost overruns by identifying potential defects during construction. The emergence of mobile platforms, sensing technologies, and BIM modelling has led to the development of an active quality inspection framework on construction sites. This research introduces a novel framework that leverages unmanned ground vehicles (UGVs) and sensors to assess the quality of constructed elements. The framework proposed in this study comprises key components, including automated inspection task breakdown, generation of an optimal inspection plan, and UGV-based data acquisition and analysis. In order to validate the effectiveness of the proposed framework and LiDAR sensor, case studies were conducted at an existing building and a construction site. The experimental results demonstrate that the LiDAR sensor achieves millimeter-level mapping accuracy, indicating its potential as an effective and efficient quality inspection tool.