2023 Volume 79 Issue 22 Article ID: 22-22004
As labor shortages at construction sites have become increasingly serious, technologies such as crane operation assistance and fully automatic operation have been attracting attention, and accurate and fast 3D mapping of the crane's surroundings is indispensable to realize such technologies. A camera installed at the end of a rotating crane boom has a disadvantage in terms of photogrammetry compared to a camera moving in a straight line. Therefore, this study attempted to generate a 3D map around crane by generating a disparity image using stereo matching technology. The accuracy was improved by projection transformation of the disparity image from a central projection to an orthographic projection, automatically setting the disparity threshold, and overlapping multiple disparity images. As a result, a dense 3D point cloud, which was difficult to obtain in previous studies using SLAM, was obtained in quasi-real-time processing time.
