Demonstration of position estimation for multiple construction vehicles of different models by using 3D LiDARs installed in the field
Abstract The construction industry faces a labor shortage problem, so construction vehicles need to be automated. For automation, a position estimation method is expected that is independent of the work environment and can accurately estimate the position of targets. This paper aims to develop a pos...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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SpringerOpen
2023-07-01
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| Series: | ROBOMECH Journal |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s40648-023-00252-0 |
| _version_ | 1797784541107060736 |
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| author | Masahiro Inagawa Tomohito Kawabe Toshinobu Takei Keiji Nagatani |
| author_facet | Masahiro Inagawa Tomohito Kawabe Toshinobu Takei Keiji Nagatani |
| author_sort | Masahiro Inagawa |
| collection | DOAJ |
| description | Abstract The construction industry faces a labor shortage problem, so construction vehicles need to be automated. For automation, a position estimation method is expected that is independent of the work environment and can accurately estimate the position of targets. This paper aims to develop a position estimation method for multiple construction vehicles using 3D LiDAR installed in a work environment. By focusing on the shape of construction vehicles, this method can estimate the location of construction vehicles in places where conventional methods cannot be used, such as valleys or roofs. Because the shape of the construction vehicle changes depending on the work equipment and steering operation, each joint angle was obtained, and the 3D model used for estimation was updated. As a result of the experiment, it was verified that the position and orientation of multiple construction vehicles can be estimated with an accuracy that satisfies the required accuracy. |
| first_indexed | 2024-03-13T00:41:22Z |
| format | Article |
| id | doaj.art-2030b5f8c00d487397c89404b74feb23 |
| institution | Directory Open Access Journal |
| issn | 2197-4225 |
| language | English |
| last_indexed | 2024-03-13T00:41:22Z |
| publishDate | 2023-07-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | ROBOMECH Journal |
| spelling | doaj.art-2030b5f8c00d487397c89404b74feb232023-07-09T11:17:07ZengSpringerOpenROBOMECH Journal2197-42252023-07-0110111110.1186/s40648-023-00252-0Demonstration of position estimation for multiple construction vehicles of different models by using 3D LiDARs installed in the fieldMasahiro Inagawa0Tomohito Kawabe1Toshinobu Takei2Keiji Nagatani3Faculty of Science and Technology, Hirosaki UniversityFaculty of Science and Technology, Hirosaki UniversityFaculty of Science and Technology, Seikei UniversitySchool of Engineering, The University of TokyoAbstract The construction industry faces a labor shortage problem, so construction vehicles need to be automated. For automation, a position estimation method is expected that is independent of the work environment and can accurately estimate the position of targets. This paper aims to develop a position estimation method for multiple construction vehicles using 3D LiDAR installed in a work environment. By focusing on the shape of construction vehicles, this method can estimate the location of construction vehicles in places where conventional methods cannot be used, such as valleys or roofs. Because the shape of the construction vehicle changes depending on the work equipment and steering operation, each joint angle was obtained, and the 3D model used for estimation was updated. As a result of the experiment, it was verified that the position and orientation of multiple construction vehicles can be estimated with an accuracy that satisfies the required accuracy.https://doi.org/10.1186/s40648-023-00252-0Localization3D LiDARConstruction vehicle |
| spellingShingle | Masahiro Inagawa Tomohito Kawabe Toshinobu Takei Keiji Nagatani Demonstration of position estimation for multiple construction vehicles of different models by using 3D LiDARs installed in the field ROBOMECH Journal Localization 3D LiDAR Construction vehicle |
| title | Demonstration of position estimation for multiple construction vehicles of different models by using 3D LiDARs installed in the field |
| title_full | Demonstration of position estimation for multiple construction vehicles of different models by using 3D LiDARs installed in the field |
| title_fullStr | Demonstration of position estimation for multiple construction vehicles of different models by using 3D LiDARs installed in the field |
| title_full_unstemmed | Demonstration of position estimation for multiple construction vehicles of different models by using 3D LiDARs installed in the field |
| title_short | Demonstration of position estimation for multiple construction vehicles of different models by using 3D LiDARs installed in the field |
| title_sort | demonstration of position estimation for multiple construction vehicles of different models by using 3d lidars installed in the field |
| topic | Localization 3D LiDAR Construction vehicle |
| url | https://doi.org/10.1186/s40648-023-00252-0 |
| work_keys_str_mv | AT masahiroinagawa demonstrationofpositionestimationformultipleconstructionvehiclesofdifferentmodelsbyusing3dlidarsinstalledinthefield AT tomohitokawabe demonstrationofpositionestimationformultipleconstructionvehiclesofdifferentmodelsbyusing3dlidarsinstalledinthefield AT toshinobutakei demonstrationofpositionestimationformultipleconstructionvehiclesofdifferentmodelsbyusing3dlidarsinstalledinthefield AT keijinagatani demonstrationofpositionestimationformultipleconstructionvehiclesofdifferentmodelsbyusing3dlidarsinstalledinthefield |