Publications / 2011 Proceedings of the 28th ISARC, Seoul, Korea
This research is a part of Intelligent Excavation System (IES) Development Project which aims the autonomous excavator for earthwork. The developed module focuses on measuring real-time productivity for Task Planning System(TPS) of the IES. This module merges 3D data obtained using two different 3D imaging systems : The 3D laser scanner ; and the stereo vision system. Real-time productivity of IES is calculated automatically. Once point cloud data is acquired by the 3D scanner, it is converted into mesh surface. Some post processing such as mesh optimization (reduce slenderness) and noise filtering are performed. Point cloud data is also acquired by the stereo vision, which is installed on the top of the cabin of the IES. Teo different 3D surface data are merged by the automatic fitting and smoothing algorithm. Excavated earth volume changes are recognized during the merging process. This research evaluates the performance of the merging algorithm using the real data from the civil earthwork site