dc.contributor.author |
Hassanieh, Karim Monzer, |
dc.date.accessioned |
2017-08-30T13:55:14Z |
dc.date.available |
2017-08-30T13:55:14Z |
dc.date.issued |
2013 |
dc.date.submitted |
2013 |
dc.identifier.other |
b18317893 |
dc.identifier.uri |
http://hdl.handle.net/10938/10501 |
dc.description |
Thesis. M.E. American University of Beirut. Department of Mechanical Engineering, 2013. ET:6145 |
dc.description |
Advisor : Dr. Daniel Asmar, Assistant Professor, Mechanical Engineering ; Members of Committee : Dr. Hiam Khoury, Assistant Professor, Civil Engineering ; Dr. Imad Elhajj, Associate Professor, Electrical and Computer Engineering. |
dc.description |
Includes bibliographical references (leaves 42-45) |
dc.description.abstract |
Site inspection is a notably tedious, time-consuming, and error-prone process when carried out manually by construction inspectors. Hence, it is a prime candidate for automation, which would reduce the effort and time incurred while improving the accuracy and organization of the data obtained. Incorporating recent contributions to the field of laser-based measurement systems, the following thesis presents a system aimed at automating the inspection process of a construction-site: the comparison of as-built vertical surfaces to their as-designed counterparts. The system relies on a Rao-Blackwellized Particle Filter occupancy grid SLAM to estimate the motion of the inspector and build a dense map of the environment, which is then used to automatically validate the original 2D architectural designs. In addition the proposed system does not depend on a pre-installed or dedicated sensor infrastructure and is thus independent from the infrastructure of the construction site. The components of the developed system have been tested through proof-of-concept experiments and results highlight the potential of using laser measurement data as proposed, for improving the inspection processes of wall positioning in construction engineering applications. |
dc.format.extent |
1 online resource (iii, 78 leaves) : illustrations ; 30cm |
dc.language.iso |
eng |
dc.relation.ispartof |
Theses, Dissertations, and Projects |
dc.subject.classification |
ET:006145 |
dc.subject.lcsh |
Remote sensing. |
dc.subject.lcsh |
Intelligent buildings. |
dc.subject.lcsh |
Construction -- Automation. |
dc.subject.lcsh |
Building inspection. |
dc.subject.lcsh |
Robot vision. |
dc.subject.lcsh |
Laser recording. |
dc.subject.lcsh |
Dead reckoning (Navigation) |
dc.subject.lcsh |
Mappings (Mathematics) |
dc.subject.lcsh |
Buildings -- Construction. |
dc.title |
Automated infrastructureless inspection of construction sites - |
dc.type |
Thesis |
dc.contributor.department |
Faculty of Engineering and Architecture. |
dc.contributor.department |
Department of Mechanical Engineering, |
dc.contributor.institution |
American University of Beirut. |