Projection-Recognition-Projection Method for Automatic Object Recognition and Registration for Dynamic Heavy Equipment Operations

Yong K. Cho; Mengmeng Gai

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Projection-Recognition-Projection Method for Automatic Object Recognition and Registration for Dynamic Heavy Equipment Operations

机译：用于重型装备动态操作的物体自动识别和配准的投影-识别-投影方法

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It is challenging to recognize dynamic three-dimensional (3D) objects in a scattered construction work environment because it is difficult to process large amounts of incomplete and complex site data from optical sensors in real time or near-real time. This paper proposes a model-based automatic dynamic object recognition and registration method, projection-recognition-projection (PRP), to help heavy equipment operators rapidly perceive the 3D working environment at construction sites. In this study, machine vision and laser scanning technologies were used to rapidly recognize and register dynamic target objects in 3D space. The proposed PRP method extracts a target object's point cloud data from the background scene to significantly reduce scan data size and modeling time. The target objects' point clouds are then processed to rapidly recognize and register 3D target models from a model database to the corresponding point clouds. Several field tests at construction equipment operation sites show that the proposed PRP framework is promising and can effectively assist heavy construction equipment operations and automated equipment control by rapidly modeling dynamic target objects in 3D views.

机译：在分散的建筑工作环境中识别动态三维（3D）对象具有挑战性，因为很难实时或近乎实时地处理来自光学传感器的大量不完整和复杂的现场数据。本文提出了一种基于模型的自动动态对象识别和注册方法，即投影-识别-投影（PRP），以帮助重型设备操作员快速感知建筑工地的3D工作环境。在这项研究中，机器视觉和激光扫描技术被用于快速识别和注册3D空间中的动态目标对象。提出的PRP方法从背景场景中提取目标对象的点云数据，以显着减少扫描数据的大小和建模时间。然后处理目标对象的点云，以快速识别3D目标模型并将其从模型数据库注册到相应的点云。在施工设备操作现场进行的一些现场测试表明，提出的PRP框架很有希望，并且可以通过在3D视图中快速建模动态目标对象来有效地协助重型施工设备操作和自动化设备控制。

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《Journal of Computing in Civil Engineering》 |2014年第5期|A4014002.1-A4014002.9|共9页
作者
Yong K. Cho; Mengmeng Gai;
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作者单位

Charles Durham School of Architectural Engineering and Construction, College of Engineering, Univ. of Nebraska-Lincoln, Peter Kiewit Institute (PKI) 104C, 1110 S. 67th St., Omaha, NE 68182;

Charles Durham School of Architectural Engineering and Construction, College of Engineering, Univ. of Nebraska-Lincoln, Peter Kiewit Institute (PKI) 118A, 1110 S. 67th St., Omaha, NE 68182;

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收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种 eng
中图分类
关键词
Construction equipment; Point cloud; Light detection and ranging (LIDAR); Image processing; Object recognition and registration;

机译：建筑设备;点云;光检测和测距（LIDAR）;图像处理;对象识别和注册;

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Projection-Recognition-Projection Method for Automatic Object Recognition and Registration for Dynamic Heavy Equipment Operations

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