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

抄録

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.