用BIM结构信息纠正视觉SLAM漂移，提升施工环境建图精度。
BIM Informed Visual SLAM for Construction Environments
- 将BIM中的墙体与检测到的墙匹配，作为几何约束优化轨迹
- 实测平均轨迹误差减少25.23%，地图精度提升7.14%
- 适用于真实施工场景，对不完整或偏差大的BIM数据仍有效
监测建筑工地需对比计划设计与实际建造状态，可借助同时定位与地图构建（SLAM）技术实现。但视觉SLAM在施工环境中易产生轨迹漂移，导致地图几何失真。为此，本文在现有RGB-D SLAM系统中引入来自建筑信息模型（BIM）的结构先验：将检测到的墙体与对应的BIM墙体匹配，并将其作为后端优化中的几何约束，从而减少漂移、提升全局一致性。该方法支持实时运行，在多个真实施工场地验证，相比当前最优基线，平均轨迹误差降低25.23%，地图精度提高7.14%。鲁棒性分析表明，该方法对不完整的BIM数据及计划与实际之间的几何差异具有较强容忍度。
原文摘要 · Abstract (English)
Monitoring building construction sites requires comparing the as-planned design with the as-built state, which can be estimated in real time using Simultaneous Localization and Mapping (SLAM) techniques. However, visual SLAM is prone to trajectory drift in construction environments, producing maps that are geometrically inaccurate with the actual environment. To address this limitation, we augment an existing RGB-D SLAM system with structural priors derived from the Building Information Model (BIM). The system associates detected walls with their BIM counterparts and includes these correspondences as geometric constraints in the back-end optimization, reducing drift and enhancing global consistency. The proposed method operates in real time and is validated on multiple real construction sites, achieving an average trajectory error reduction of 25.23% and a 7.14% improvement in map accuracy over state-of-the-art baselines. Robustness analyses further demonstrate resilience to incomplete BIM data and geometric discrepancies between as-planned models and the as-built environment.
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