VOX2BIM+ - A Fast and Robust Approach for Automated Indoor Point Cloud Segmentation and Building Model Generation

Abstract Building Information Modeling (BIM) plays a key role in digital design and construction and promises also great potential for facility management. In practice, however, for existing buildings there are often either no digital models or existing planning data is not up-to-date enough for use as as-is models in operation. While reality-capturing methods like laser scanning have become more affordable and fast in recent years, the digital reconstruction of existing buildings from 3D point cloud data is still characterized by much manual work, thus giving partially or fully automated reconstruction methods a key role. This article presents a combination of methods that subdivide point clouds into separate building storeys and rooms, while additionally generating a BIM representation of the building’s wall geometries for use in CAFM applications. The implemented storeys-wise segmentation relies on planar cuts, with candidate planes estimated from a voxelized point cloud representation before refining them using the underlying point data. Similarly, the presented room segmentation uses morphological operators on the voxelized point cloud to extract room boundaries. Unlike the aforementioned spatial segmentation methods, the presented parametric reconstruction step estimates volumetric walls. Reconstructed objects and spatial relations are modelled BIM-ready as IFC in one final step. The presented methods use voxel grids to provide relatively high speed and refine their results by using the original point cloud data for increased accuracy. Robustness has proven to be rather high, with occlusions, noise and point density variations being well-tolerated, meaning that each method can be applied to data acquired with a variety of capturing methods. All approaches work on unordered point clouds, with no additional data being required. In combination, these methods comprise a complete workflow with each singular component suitable for use in numerous scenarios.