국제학술발표논문집 (International conference on construction engineering and project management)

한국건설관리학회 (Korea Institute of Construction Engineering and Management)
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Location Measurement System for Automated Operation of Construction Machinery Using Visual SLAM

  • Masaki CHINO (Frontier Research Department, Technical Research Institute, Hazama Ando Corporation) ;
  • Atsushi YAMASHITA (Department of Human and Engineered Environmental Studies Graduate School of Frontier Sciences, The University of Tokyo)
  • 발행 : 2024.07.29
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초록

In the construction industry, there is a growing demand for improving productivity, and development of autonomous operation systems for construction machinery is progressing. Autonomous operation of construction machinery requires positioning information because construction must be carried out at planned locations. In this paper, we focused on Visual Simultaneous Localization and Mapping (Visual SLAM) as a method for obtaining location information for construction machinery and proposed an automated operation system using Visual SLAM. For automated driving, the indirect method based on ORB features is used in Visual SLAM, and processes such as mask processing for surrounding moving objects and measurement of initial positions using markers are performed. With the proposed system, it was confirmed that it is possible to perform automated operation in an experimental environment using the location information output by Visual SLAM. In addition, the experiment was conducted to verify the measurement accuracy when using Visual SLAM during construction work at actual construction sites. As a result, the measurement accuracy was less than 500 mm, which is a usable accuracy for actual construction. By using this system, it is possible to obtain the location information of construction machinery even in environments where GNSS cannot be used, and productivity at construction sites can be improved by performing automated operation.

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참고문헌

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