Abstract
Excavation is one of the broadest activities in the construction industry, often affected by safety and productivity. To address these problems, it is necessary for construction sites to automatically monitor the poses of excavator manipulators in real time. Based on computer vision (CV) technology, an approach, through a monocular camera and marker, was proposed to estimate the pose parameters (including orientation and position) of the excavator manipulator. To simulate the pose estimation process, a measurement system was established with a common camera and marker. Through comprehensive experiments and error analysis, this approach showed that the maximum detectable depth of the system is greater than 11 m, the orientation error is less than 8.5°, and the position error is less than 22 mm. A prototype of the system that proved the feasibility of the proposed method was tested. Furthermore, this study provides an alternative CV technology for monitoring construction machines.
Highlights
National Engineering Laboratory for Highway Maintenance Equipment, Chang’an University, Abstract: Excavation is one of the broadest activities in the construction industry, often affected by safety and productivity
Theconditions size of the excavator manipulator (a 5-ton excavator, wi Considering the size of the excavator manipulator (a 5-ton excavator, with a manipuulator size of 200 to 400 mm in width), a CALTag with a size of 228 × 228 mm w lator size of 200 to 400 mm in width), a CALTag with a size of 228 × 228 mm was adopted asthe the marker, and the resolution image resolution
The authors initially proposed an approach based on monocular vision to automatically estimate the excavator pose by detecting the marker installed on the excavator, which consisted of a marker with significant resistance to occlusion and a common monocular camera
Summary
National Engineering Laboratory for Highway Maintenance Equipment, Chang’an University, Abstract: Excavation is one of the broadest activities in the construction industry, often affected by safety and productivity. To address these problems, it is necessary for construction sites to automatically monitor the poses of excavator manipulators in real time. Based on computer vision (CV) technology, an approach, through a monocular camera and marker, was proposed to estimate the pose parameters (including orientation and position) of the excavator manipulator. CA (e.g., sensor technology) could be used to monitor the construction site environment in real time and return detected information to the operator, which would help the operator understand the surrounding environment (e.g., construction workers and workplace) better. On the other hand, monitoring the movement of construction machines (i.e., the pose of an excavator, which includes orientation), combined with other technologies (e.g., task decision and motion planning technology, target detection, and tracking technology), could make construction machines perform actions (e.g., send a warning sound or machine emergency braking) independently, based on the surrounding environment
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