3D point cloud data from sensing technologies such as 3D laser scanning and photogrammetry are able to capture the 3D surface geometries of target objects in an accurate and efficient manner. Due to these advantages, the construction industry has been capturing 3D point cloud data of construction sites, construction works, and construction equipment to enable better decision making in construction project management. The captured point cloud data are utilized to reconstruct 3D building models, check construction quality, monitor construction progress, improve construction safety etc. throughout the project lifecycle from design to construction and facilities management phase. This paper aims to review the state-of-the-art methods to acquire and process 3D point cloud data for construction applications. The different approaches to 3D point cloud data acquisition are reviewed and compared including 3D laser scanning, photogrammetry, videogrammetry, RGB-D camera, and stereo camera. Furthermore, the processing methods of 3D point cloud data are reviewed according to the four common processing procedures including (1) data cleansing, (2) data registration, (3) data segmentation, and (4) object recognition. For each processing procedure, the different processing methods and algorithms are compared and discussed in detail, which provides a useful guidance to both researchers and industry practitioners for adopting point cloud data in the construction industry.

中文翻译：

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建筑应用中3D点云数据的采集和处理的计算方法

来自传感技术（例如3D激光扫描和摄影测量）的3D点云数据能够以准确，高效的方式捕获目标对象的3D表面几何形状。由于这些优势，建筑业一直在捕获建筑工地，建筑工程和建筑设备的3D点云数据，以更好地进行建筑项目管理决策。从设计到施工和设施管理阶段的整个项目生命周期，捕获的点云数据都用于重建3D建筑模型，检查施工质量，监视施工进度，提高施工安全性等。本文旨在回顾为建筑应用获取和处理3D点云数据的最新方法。对3D点云数据采集的不同方法进行了回顾和比较，包括3D激光扫描，摄影测量，视频测量，RGB-D摄像机和立体摄像机。此外，根据4种常见处理过程对3D点云数据的处理方法进行了回顾，包括（1）数据清理，（2）数据注册，（3）数据分段和（4）对象识别。对于每个处理过程，将对不同的处理方法和算法进行详细比较和讨论，这为研究人员和行业从业人员在建筑行业采用点云数据提供了有用的指导。3D点云数据的处理方法根据（1）数据清理，（2）数据注册，（3）数据分割和（4）对象识别这四个常用处理程序进行了综述。对于每个处理过程，将对不同的处理方法和算法进行详细比较和讨论，这为研究人员和行业从业人员在建筑行业采用点云数据提供了有用的指导。3D点云数据的处理方法根据（1）数据清理，（2）数据注册，（3）数据分割和（4）对象识别这四个常用处理程序进行了综述。对于每个处理过程，将对不同的处理方法和算法进行详细比较和讨论，这为研究人员和行业从业人员在建筑行业采用点云数据提供了有用的指导。