利用无人地面车辆上的 3D 激光传感器检测和测量铺路块的位移

IF 9.6 1区 工程技术 Q1 CONSTRUCTION & BUILDING TECHNOLOGY
Jiwoo Shin , Seoyeon Kim , Young-Hoon Jung , Hong Min , Taesik Kim , Jinman Jung
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引用次数: 0

摘要

在城市地区进行深度挖掘的建筑工地可能会引起地面变形,对附近的基础设施造成潜在危害。因此,对施工现场进行监测至关重要。通常情况下,人行道位于施工现场附近,地面变形会导致铺路砖位移。准确测量铺路块的位移和裂缝至关重要。本文利用无人地面车辆(UGV)上的三维激光线传感器,提出了一种高效的自动探测和测量方法,强调在线测量功能。该方法包括两个步骤:通过三维点云数据的二维投影检测目标物体,以及通过聚类分片线性拟合(CPLF)算法减少不必要的数据来测量物体特征。这两个步骤增强了边缘服务器和设备之间的并行性,从而缩短了总处理时间。原型实施和实验表明,我们的方法实现了较低的精度误差,适用于 UGV 的自动在线检测和测量。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Paving block displacement detection and measurement using 3D laser sensors on unmanned ground vehicles
Construction sites with deep excavation in urban areas can induce ground deformation, potentially harming nearby infrastructure. Therefore, monitoring construction sites is crucial. Typically, a sidewalk is located adjacent to the construction site, and ground deformation can cause the displacement of paving blocks. Accurate measurement of paving block displacement and cracks is essential. This paper proposes an efficient automated detection and measurement method using a 3D laser line sensor on Unmanned Ground Vehicles (UGVs), emphasizing online measurement capabilities. The method involves two steps: detecting target objects via 2D projection from 3D point cloud data and measuring object features by reducing unnecessary data with the Clustered Piecewise Linear Fitting (CPLF) algorithm. This two-step process enhances parallelism between edge servers and devices, thereby reducing total processing time. Prototype implementation and experiments show that our method achieves low errors of accuracy and is suitable for automated online detection and measurement on UGVs.
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来源期刊
Automation in Construction
Automation in Construction 工程技术-工程:土木
CiteScore
19.20
自引率
16.50%
发文量
563
审稿时长
8.5 months
期刊介绍: Automation in Construction is an international journal that focuses on publishing original research papers related to the use of Information Technologies in various aspects of the construction industry. The journal covers topics such as design, engineering, construction technologies, and the maintenance and management of constructed facilities. The scope of Automation in Construction is extensive and covers all stages of the construction life cycle. This includes initial planning and design, construction of the facility, operation and maintenance, as well as the eventual dismantling and recycling of buildings and engineering structures.
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