Abstract
Until the last decade, robots for thermal monitoring of buildings were limited to measuring ambient temperature. Recent research has focused on obtaining detailed thermal information about the structural components of buildings since the mid-2010s. This paper presents the methodology and results of the MoPAD2 (Mobile Platform for Autonomous Digitization) robot, an autonomous, low-cost, small-sized mobile robot equipped with a thermal scanning platform. The platform generates 3D thermal models of building interiors over time and conducts repeated data acquisition sessions, saving energy during waiting intervals. The paper explains how a dense thermal point cloud is obtained from different locations in the scene and processed to create a single 3D thermal model, and two case studies are presented. This robotics system has the potential to revolutionize thermal monitoring of buildings and enable energy characterization through thermal models.
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