| Title |
2D LiDAR-Based Rebar Center Detection and Temporal Tracking for Pre-Assembly Verification of PPVC Modules |
| Authors |
김홍진(Kim, HongJin) ; 안선우(Ahn, SunWoo) ; 강효재(Kang, HyoJae) ; 김희준(Kim, HeeJun) ; 강민성(Kang, Min-Sung) |
| DOI |
https://doi.org/10.5659/JAIK.2026.42.6.349 |
| Keywords |
Prefabricated Prefinished Volumetric Construction; Modular Construction; Rebar Position Estimation; 2D LiDAR |
| Abstract |
In prefabricated prefinished volumetric construction (PPVC), assembly failure caused by misaligned rebars is a critical risk that can lead to
significant cost overruns and schedule delays, particularly when heavy modules are lifted by cranes and cannot be assembled on site. Despite
this, rebar inspection prior to assembly still largely relies on manual measurements or static sensor-based approaches, which suffer from
limited repeatability and reduced robustness under occlusion and long-range sensing conditions. This study proposes an automated rebar
centerline detection and tracking method based on a 2D LiDAR sensor for pre-assembly verification of PPVC modules. Instead of performing
complex three-dimensional reconstruction, the proposed approach models rebars using their cylindrical geometric characteristics and estimates
centerlines from sequential LiDAR scans. Temporal tracking is further applied to mitigate sensor noise, partial occlusion in dense rebar
layouts, and point sparsity caused by increased measurement distances. Due to practical constraints in conducting experiments at actual PPVC
construction sites, a representative rebar configuration was fabricated using 3D printing to construct a controlled testbed. Experimental results
demonstrate that the proposed method provides stable and reliable rebar centerline estimation under various measurement conditions, offering a
lightweight and practical solution for pre-assembly rebar inspection in PPVC modular construction. |