지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2016.6
- 수록면
- 67 - 70 (4page)
이용수
초록· 키워드
오류제보하기
Nowadays, autonomous excavators are studied to replace the human presence when the machine is working in the hazardous environment. Especially, the perception for defining the shape and the dimension of the soil-pile should be developed to generate the excavation path planning. In this paper, a scanning system for soil-pile will be presented to apply to the autonomous excavator. First, a laser range finder (2D Lidar) is mounted to a bracket which is forced to slide vertically by linear actuator. Then, a data processing program filters the scanning result from the measurement. Finally, the soil-pile shape is determined by meshing the point cloud by using the Delaunay triangulation method. An experiment for real soil-pile is also implemented to verify the performance of the system.
목차
Abstract
1. Introduction
2. 3D Scanning system using laser rangefinder
3. Algorithm of the scanning system
4. Experiment and result
5. Conclusion
References
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UCI(KEPA) : I410-ECN-0101-2017-550-000856388