Fusion of 4D Point Clouds From a 2D Profilometer and a 3D Lidar on an Excavator

Immonen, Matti; Niskanen, Ilpo; Hallman, Lauri; Keränen, Pekka; Hiltunen, Mikko; Kostamovaara, J.; Heikkilä, Rauno

doi:10.1109/jsen.2021.3078301

Cited by 10 publications

(2 citation statements)

References 15 publications

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“…To interact with these digital representations, automated equipment and robots must be able to align themselves with the information model in the digital environment. Therefore, automated equipment in open-field infrastructure construction uses positioning systems such as differential global navigation satellite system (DGNSS) or real-time kinematics (RTK) (Mallela et al 2018;Persson 2018), while autonomous robots or more automated equipment in building construction use localization algorithms such as simultaneous localization and mapping (SLAM) (Immonen et al 2021; Fraunhofer Institute of Optronics 2022) or ultra-wideband (UWB) (Vahdatikhaki et al 2015).…”

Section: Automated Equipmentmentioning

confidence: 99%

Cobot uptake in construction: embedding collaborative robots in digital construction processes

et al. 2023

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The paper at hand investigates the interrelation of automation and collaboration in digital construction processes. Labor shortage, demographic change, and a deficit in productivity motivate automation in construction. While the automation of single tasks is on its way, there is a lack of collaboration between automated equipment and robots along the digital construction process. To foster the development of collaborating robots, definitions and classification criteria for automation and collaboration activities are given. With these criteria at hand, it is possible to classify scientific examples from literature. On top of that, the paper introduces a prototyping framework for automated and collaborative equipment. The framework is thoroughly tested in an earthworks case study consisting of automated and collaborative excavation and compacting of an area. Through the collaboration of an automated excavator and vibratory plate, it is possible to simultaneously execute the ‘excavation’ and ‘compaction’ task, speeding up the overall earthworks process by a factor of almost two. Along with a higher productivity, the high degree of automation allows for safer work, as less workers are exposed to dangerous workspaces and the quality increases through continuous quality checking and integrated documentation of as-built data in BIM models.

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Section: Automated Equipmentmentioning

confidence: 99%

Cobot uptake in construction: embedding collaborative robots in digital construction processes

et al. 2023

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“…We investigated the application of a combination of commercial LIDAR and profilometer scanning methods to generate a 4D model of a large-scale construction site using an excavator. Our fusion method and approach combined the advantages of the profilometer, which provides precise position estimations of near objects, and LIDAR, which offers broad field-of-view position estimations at far distances (Immonen et al 2021). The profilometer was used to estimate the volume of soil stockpiles and the thickness of road layers using an excavator based on the acquired multi-4D point cloud information (Niskanen et al 2022).…”

Section: Introductionmentioning

confidence: 99%

Trench visualisation from a semiautonomous excavator with a base grid map using a TOF 2D profilometer

Niskanen

Immonen

Makkonen

et al. 2023

J Vis

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Real-time, three-dimensional (3D) visualisation technology can be used at construction sites to improve the quality of work. A 3D view of the landscape under work can be compared to a target 3D model of the landscape to conveniently show needed excavation tasks to a human excavator operator or to show the progress of an autonomous excavator. The purpose of this study was to demonstrate surface visualisation from measurements taken with a pulsed time-of-flight (TOF) 2D profilometer on-board a semiautonomous excavator. The semiautomatic excavator was implemented by recording the feedback script parameters from the work performed on the excavator by a human driver. 3D visualisation maps based on the triangle mesh technique were generated from the 3D point cloud using measurements of the trenches dug by a human and an autonomous excavator. The accuracy of the 3D maps was evaluated by comparing them to a high-resolution commercial 3D scanner. An analysis of the results shows that the 2D profilometer attached to the excavator can achieve almost the same 3D results as a high-quality on-site static commercial 3D scanner, whilst more easily providing an unobstructed view of the trench during operation (a 3D scanner placed next to a deep trench might not have a full view of the trench). The main technical advantages of our 2D profilometer are its compact size, measurement speed, lack of moving parts, robustness, low-cost technology that enables visualisations from a unique viewpoint on the boom of the excavator, and readiness for real-time control of the excavator’s system. This research is expected to encourage the efficiency of the digging process in the future, as well as to provide a remarkable view of trench work using an excavator as a moving platform to facilitate data visualisation. Graphical abstract

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Comparison of Exhaust Gas Emissions Between Autonomous and Human Operator Excavator

Kolli

Hiltunen

Niskanen

et al. 2023

Sustainable and Digital Building

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Fusion of 4D Point Clouds From a 2D Profilometer and a 3D Lidar on an Excavator

Cited by 10 publications

References 15 publications

Cobot uptake in construction: embedding collaborative robots in digital construction processes

Cobot uptake in construction: embedding collaborative robots in digital construction processes

Trench visualisation from a semiautonomous excavator with a base grid map using a TOF 2D profilometer

Comparison of Exhaust Gas Emissions Between Autonomous and Human Operator Excavator

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