Automatic Detection of Building Equipment using Laser Intensity of MLS Point Cloud

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The proposed method achieved a high detection rate for building equipment in various wall and ceiling conditions.
Detection candidates were determined by analyzing reflection intensity, which was approximated for consistency.
Mobile laser scanners were used to gather point clouds, essential for accurate identification of small equipment.
This method may significantly enhance building maintenance practices, especially in structures without existing 3D models.

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Proposed method detects building equipment in point clouds, suggesting improvements for BIM accuracy.

Kobayashi et al. (2025) studied this question.

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