Fusion of Time-Of-Flight Camera and Stereo Camera Data for Enhanced 3D Work Environment Representation for Construction Equipment Automation

摘要: As the need to develop semiautomated and automated construction equipment increases in industry, 3D work environment representation becomes increasingly important. Accurate, realistic, rapid of can be utilized for obstacle detection collision avoidance by providing information about state environment. This paper describes a system create graphical safe efficient operation that has desirable properties satisfies constraints on development equipment. For this purpose, unified framework multi-sensor data fusion-based is proposed. The proposed consists four main steps: acquisition, filtering, fusion, model generation. A field experiment was undertaken site validate system. preliminary research results show resulting successfully employed assists operator identifying obstacles or operates independently.