Optical marker-based end effector pose estimation for articulated excavators
- Title
- Optical marker-based end effector pose estimation for articulated excavators
- Author
- 서종원
- Keywords
- Camera-marker network; Pose estimation; Machine control; Equipment monitoring; Construction equipment; Articulated machines; Excavator guidance; Grade control
- Issue Date
- 2016-05
- Publisher
- ELSEVIER SCIENCE BV
- Citation
- AUTOMATION IN CONSTRUCTION, v. 65, Page. 51-64
- Abstract
- Marker-based pose estimation, in which optical cameras monitor fiducial markers to determine the three-dimensional positioning and orientation of an articulated machine's end effector, has been identified as a potential low-cost alternative to currently available machine control and guidance systems. In an effort to develop such a marker-based pose estimation system for excavators, several iterations of prototypes were designed, fabricated, and tested. Performance was measured in terms of the system's ability to estimate bucket tooth position, with an acceptance criterion of 2.5 cm (1 in.# of absolute error. Although initial prototypes were found to possess practicality and performance issues, a fourth prototype offered encouraging experimental results suggesting the feasibility of marker-based sensor technology for excavator pose estimation. Further work needed to refine the technology for large-scale practical implementation was also identified. #C) 2016 Elsevier B.V. All rights reserved.
- URI
- https://www.sciencedirect.com/science/article/pii/S0926580516300255?via%3Dihubhttps://repository.hanyang.ac.kr/handle/20.500.11754/71430
- ISSN
- 0926-5805; 1872-7891
- DOI
- 10.1016/j.autcon.2016.02.003
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > CIVIL AND ENVIRONMENTAL ENGINEERING(건설환경공학과) > Articles
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