Projection-Recognition-Projection (PRP) Method for Rapid Object Recognition and Registration from a 3D Point Cloud

Abstract

This paper introduces a model-based automated object recognition and registration method, Projection-Recognition-Projection (PRP), to assist heavy equipment operators in rapidly perceiving 3D working environment at dynamic construction sites. It has been a challenging subject to recognize target objects from a scattered work environment because large and complex 3D site data obtained by a laser scanner makes it difficult to process itself in real or near real time. In this study, a CCD camera and a hybrid laser scanner were used to rapidly recognize and register dynamic target objects in a 3D space by separating target object's point cloud data from other background point cloud data for quick process. The experimental results were promising in terms of modeling speed and accuracy. If successful, as an on-going project, the proposed PRP method can significantly improve heavy construction equipment operations and automated equipment control by rapidly modeling dynamic target objects in a 3D view.