Pose Estimation of Construction Materials Using Multiple ID Devices for Construction Automation

This paper describes a method of pose (position and orientation) of large object such as construction materials using multiple ID devices for construction automation. Object pose is crucial issue for construction automation, however, the pose can change by the robots and workers that do not have ID reader or measure the object pose. The proposed method supposes the position and direction of each ID device with respect to the object coordination frame and those of the ID reader with respect to the reference coordination frame. The paper focuses on the simplification of the estimation model to apply the method to the real environment. Experimental results show feasibility of our proposed method.