ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1P2-L08
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相対的に移動する複数の搭載型RGB-Dセンサの統合によるバックホウの掘削土砂量推定
*堂前 雅仁川又 健太畠山 佑太守本 崇昭泉川 岳哉藤井 浩光
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In recent years, “i-Construction” which aims to improve the efficiency of construction sites by utilizing information such as 3D data has been actively promoted. There is a demand to estimate the amount of soil volume excavated by backhoe. In this paper, We propose a method to estimate the amount of the excavated soil volume by using multiple RGB-D sensors mounted on the backhoe. In this problem, the sensors move relatively each other according to the change of the joint angle of the backhoe. We integrate the sensor data by estimating the relative pose of the bucket against the cabin.

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