Construction site is a complicated environment. For an all-terrain crane working under the complex workspace, the limited information and blind spots are always problems encountered by operators. Method such as mounting a top-view camera on the boom head can help the operator understand the workspace to a better extent. But it is still very difficult to know more about the workspace without the depth information. The depth information is important for lifting, path planning and showing information such as power limit area. To achieve the purpose of acquiring the depth of workspace, we use a real time pipeline to reconstruct the workspace. With a pre-shoot video of the working environment, a semi-dense point cloud of the workspace has been generated.
