Self-Position Estimation of Construction Equipment using a 360-Degree Camera and UAV Marker

Abstract

In recent years, the construction industry has been advancing construction DX and ICT construction. These efforts assume the availability of a communication environment, which may be challenging in certain terrains, such as canyons or underground. Self-position estimation, indispensable for the autonomous operation of construction machinery, is also a critical topic. In this study, multiple airborne markers with local coordinates measured by surveying instruments were detected in images acquired by a 360-degree camera mounted on a construction machine to estimate the machine's self-position.