Abstract
In earthwork sites, its terrain shapes are changing continuously as the work proceeds. If someone wants to grab three-dimensional geometry data of such sites, currently available technologies such as 3D laser scanners are unable to collect reasonably precise data in pseudo-real time (i.e., 1-10 scans per second). To tackle the problem, the authors took ‘dual scanners’ approach, where low-speed (yet highly-precise) laser scanners are used for initial scan of the work site, then augment the initial data using the 3D geometry data collected from excavator-mounted stereovision. For this approach, the authors used ICP (Iterative ClosestPoint)-based algorithms for merging the stereovision data with the laser scan data, where similarities of both data are limited due to changed site shape.
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