Although existing research primarily utilizes 3D simulation models, the limitations of reality visualization persist. To address this matter, this study proposes combining Building Information Modeling (BIM) and point cloud data to establish a more comprehensive and accurate digital environment, thereby reducing the gap between virtual models and the real point cloud of the construction site. The developed framework facilitates the integration of BIM with point cloud data, enabling the creation of a complete and precise model suitable for simulating construction site realities.
This research firstly categorized the engineering information according to Industry Standards, aiding engineers in identifying necessary information for specific construction tasks and selecting relevant information for modeling in BIM tools. Then, the process for creating BIM models tailored to specific purposes is elucidated, encompassing geometry creation and information determination based on different Levels of Development. Next, to establish a connection between point cloud data and engineering information, an Element ID is introduced as a point cloud property linking the point cloud data with a database; the alignment method unifies diverse point cloud coordinate systems. Finally, when imported into a virtual environment, the resulting point cloud model incorporates information, thus becoming a point cloud information model.
The combined point cloud is visualized in Unity to demonstrate the framework's capabilities. This serves as evidence of the framework's feasibility and effectiveness in creating a simulated environment that combines BIM information and point cloud data. Each point cloud element can connect to the database containing task-relevant information, such as the paint material, element relationships, etc. This can aid an implemented robot to automate the navigation and its behavior.

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