Tracking an ongoing construction by using fiducial markers

Abstract

A method for tracking progression of a construction site at different points in time relative to an expected progression of the construction site as represented by a computer model. The method includes generating an image of the construction site by scanning the construction site with an imaging device and detecting a fiducial marker appearing in the image at a location on the construction site. The fiducial marker is unique among fiducial markers positioned on the construction site. The method further includes identifying the detected fiducial marker in association with a unique identifier among the fiducial markers and aligning a coordinate system of the identified fiducial marker with a coordinate system of the computer model, which represents the construction site at points in time.

1 . A system for tracking progression of a construction site at different points in time relative to an expected progression of the construction site as represented by a computer model, the system comprising:
 one or more processor; and   one or more memories including instructions executable by the processors causing the system to:
 generate an image of the construction site by scanning the construction site with an imaging device; 
 detect a fiducial marker appearing in the image at a location on the construction site, the fiducial marker being unique among a plurality of fiducial markers positioned on the construction site; 
 identify the detected fiducial marker in association with a unique identifier among the plurality of fiducial markers; and 
 align a coordinate system of the identified fiducial marker with a coordinate system of the computer model, which represents the construction site at points in time. 
   
     
     
         2 . The system of  claim 1 , wherein each of the plurality of fiducial markers appears in a plurality of images captured of the construction site by the imaging device. 
     
     
         3 . The system of  claim 1 , wherein the image is a two-dimensional (2D) image and the construction site includes a plurality of three-dimensional (3D) physical elements. 
     
     
         4 . The system of  claim 1 , wherein the construction site is a partially complete construction of a three-dimensional (3D) structure. 
     
     
         5 . The system of  claim 1  further comprising:
 a robotic unmanned vehicle including a light detection and ranging (LIDAR) system of the imaging device, wherein the robotic unmanned vehicle is configured to traverse the construction site to capture a plurality of images. 
 
     
     
         6 . The system of  claim 1 , wherein the plurality of fiducial markers is positioned such that a plurality of images of the construction site includes an image of each fiducial marker. 
     
     
         7 . The system of  claim 1 , wherein each fiducial marker is positioned on a surface of a physical element of the construction site. 
     
     
         8 . The system of  claim 1 , wherein each fiducial marker is a two-dimensional (2D) barcode that is unique relative to every fiducial marker. 
     
     
         9 . The system of  claim 1 , wherein each fiducial marker has a unique grayscale or binary pattern on a planar surface. 
     
     
         10 . A non-transitory computer-readable storage medium that stores instructions to be executed by at least one processor of a system, wherein the instructions cause the system to:
 generate an image of a construction site by scanning the construction site with an imaging device;   detect a fiducial marker appearing in the image at a location on the construction site, the fiducial marker being unique among a plurality of fiducial markers positioned on the construction site;   identify the detected fiducial marker in association with a unique identifier among the plurality of fiducial markers; and   align a coordinate system of the identified fiducial marker with a coordinate system of a computer model, which represents the construction site at points in time.   
     
     
         11 . The non-transitory computer-readable storage medium of  claim 10 , wherein each of the plurality of fiducial markers appears in a plurality of images captured of the construction site by the imaging device. 
     
     
         12 . The non-transitory computer-readable storage medium of  claim 10 , wherein the image is a two-dimensional (2D) image and the construction site includes a plurality of three-dimensional (3D) physical elements. 
     
     
         13 . The non-transitory computer-readable storage medium of  claim 10 , wherein the construction site is a partially complete construction of a three-dimensional (3D) structure. 
     
     
         14 . The non-transitory computer-readable storage medium of  claim 10 , wherein the system is further caused to:
 cause a robotic unmanned vehicle including a light detection and ranging (LIDAR) system of the imaging device, to traverse the construction site to capture a plurality of images.   
     
     
         15 . The non-transitory computer-readable storage medium of  claim 10 , wherein the plurality of fiducial markers is positioned such that a plurality of images of the construction site includes an image of each fiducial marker. 
     
     
         16 . A method tracking progression of a construction site at different points in time relative to an expected progression of the construction site as represented by a computer model, the method comprising:
 generating an image of the construction site by scanning the construction site with an imaging device;   detecting a fiducial marker appearing in the image at a location on the construction site, the fiducial marker being unique among a plurality of fiducial markers positioned on the construction site;   identifying the detected fiducial marker in association with a unique identifier among the plurality of fiducial markers; and   aligning a coordinate system of the identified fiducial marker with a coordinate system of the computer model, which represents the construction site at points in time.   
     
     
         17 . The method of  claim 16 , wherein the plurality of fiducial markers is positioned such that a plurality of images of the construction site includes an image of each fiducial marker. 
     
     
         18 . The method of  claim 16 , wherein each fiducial marker is positioned on a surface of a physical element of the construction site. 
     
     
         19 . The method of  claim 16 , wherein each fiducial marker is a two-dimensional (2D) barcode that is unique relative to every fiducial marker. 
     
     
         20 . The method of  claim 16 , wherein each fiducial marker has a unique grayscale or binary pattern on a planar surface.