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The Construction Method of the Digital Operation Environment for Bridge Cranes

机译：The Construction Method of the Digital Operation Environment for Bridge Cranes

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摘要

To realize real-time detection of the operating environment of bridge cranes, this paper presents a three-dimensional mapping method using a binocular camera and laser ranging sensor. First, the left and right images are obtained by using the binocular camera, and the block matching is used for stereo correspondence to obtain the disparity image. Then, according to the reprojection matrix and the disparity image, the depth value of each pixel is obtained, and the depth image can be transformed into a three-dimensional point cloud of the current frame. Relying on the camera position data obtained by the laser ranging sensor, the three-dimensional point cloud generated from different positions is registered to obtain the three-dimensional point cloud of the crane's global operating environment. Finally, an octree map is used to represent the operating environment. To simulate the construction process of the operating environment of the bridge crane, an experimental platform was built, and experiments were carried out using the method proposed in this paper. The experimental results verified the feasibility of the method proposed in this paper.

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