| Title |
Object Detection From 3D Terrain Data Gener Ated by Laser Scanner of Intelligent Excavating System(IES) |
| Authors |
Yoo, Hyun-Seok ; Park, Ji-Woon ; Choi, Youn-Nyung ; Kim, Young-Suk |
| Keywords |
3D ; Object ; Detection ; Laser scanner ; Terrain |
| Abstract |
The intelligent excavating system(IES), the development in South Korea of which has been underway since 2006, aims for the full-scale automation of the excavation process that includes a series of tasks such as movement, excavation and loading. The core elements to ensure the quality and safety of the automated excavation equipment include 3D modeling of terrain that surrounds the excavating robot and the technology for detecting objects accurately(i.e., for detecting the location of nearby loading trucks and humans as well as of obstacles positioned on the movement paths). Therefore the purpose of this research is to ensure the quality and safety of automated excavation detecting the objects surrounding the excavating robot via a 3D laser scanning system. In this paper, an algorithm for estimating the location, height, width, and shape of objects in the 3D-realized terrain that surrounds the location of the excavator was proposed. The performance of the algorithm was verified via tests in an actual earthwork field. |