| Title |
Human-assisted 3D Spatial-Modeling using Laser Rangefinder for Automation of Construction Equipment |
| Keywords |
Sparse Point Cloud ; 3D Spatial-modeling ; Convex Hull ; Workspace Partitioning ; Coordinate Transformation |
| Abstract |
3D spatial-modeling can be used in various safety-enhancement applications and for as-built data acquisition in project-control systems. The objective of the research reported herein was to provide spatial-modeling methods that represent construction sites in an efficient manner and to validate the proposed methods by testing them in an actual construction environment. Algorithms to construct construction-site scenes and to carry out coordinate transformations in order to merge data from different acquisition locations are presented. Field experiments were conducted to establish performance parameters and validation for the proposed methods and models. Initial experimental work has demonstrated the feasibility of this approach. |