Autonomous As-Built Documentation with a Quadruped Robot and LiDAR-SLAM

Abstract: Automating as-built documentation enhances efficiency, safety, and quality in construction projects. This study explores a quadruped robot equipped with a LiDAR sensor for autonomous navigation and mapping. We evaluate three open-source LiDAR-SLAM algorithms in diverse indoor environments: a long hallway, a cellar, and a stairwell. Results reveal the strengths and limitations of each algorithm, providing critical insights into their suitability for as-built documentation in complex scenarios. By addressing challenges in dynamic and constrained settings, our findings contribute to advancing robotic solutions for autonomous as-built documentation in varied architectural environments.