Publications / 2011 Proceedings of the 28th ISARC, Seoul, Korea

A Development of 3D Image Data Merging Module for Intelligent Excavation System

Chang-Yeon Cho, Myungjin Chae, Yoonseok Shin, Moon-Young Cho, Jaewoo Park, Soonwook Kwon
Pages 1419-1421 (2011 Proceedings of the 28th ISARC, Seoul, Korea, ISBN 978-89-954572-4-5, ISSN 2413-5844)
Abstract:

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

Keywords: IES(Intelligent Excavation System), 3D Image System, Civil Earthwork, Construction Automation, Data Merging Algorithm