This paper presents a 3D automated scanning method for building materials called "Interactive Procedural Scanning", used in a collaborative environment between human workers and CNC robots. The method is inspired by the traditional wood inspection process known as "Kidori" and aims to translate the observation skills of an experienced carpenter into an intelligent robotic system. It uses an industrial robotic arm, computer vision and depth cameras to create a digital twin of the timber, minimizing the deviation between the planned and actual tool positions, improving the cutting process.

Digital Twin of the Robot

The flow of environmental Assessment recording

Range Scan

Detailed Scan