Automated point cloud acquisition system using multiple RGB-D cameras

The rise of interest in Building Information Modelling (BIM) during the last years has led to the introduction of complex data structures. Among all this information, a precise definition of structures in the form of point clouds is still an open research area. Consequently, an accurate, fast and easy to use point cloud acquisition system is needed. In this paper, we present a hardware-software prototype for automated indoor environments scanning through the acquisition of point clouds using multiple low-cost depth sensors. The acquisition and processing phase are described in detail, as well as the test environments used to assess the system functionality.