Real-time monitoring and feedback design for autonomous slope repair based on binocular vision

Congfeng Tian; Changchun Ma; Ziyao Xu; Yongkang Liu; Quancheng Dong

doi:10.1117/12.3007362

30 August 2023 Real-time monitoring and feedback design for autonomous slope repair based on binocular vision

Congfeng Tian, Changchun Ma, Ziyao Xu, Yongkang Liu, Quancheng Dong

Proceedings Volume 12797, Second International Conference on Geographic Information and Remote Sensing Technology (GIRST 2023); 127971T (2023) https://doi.org/10.1117/12.3007362
Event: 2nd International Conference on Geographic Information and Remote Sensing Technology (GIRST 2023), 2023, Qingdao, China

Abstract

In order to cope with the special conditions of hard soil and large soil cutting volume in autonomous slope repair operations, the existing autonomous slope repair process is improved, and a real-time monitoring and feedback system is proposed to be built for the excavator using binocular vision. The system includes the estimation of the total amount of soil cut in the slope repair project, the real-time estimation of the amount of soil cut and the real-time judgement of the slope flatness. After experimental verification, the height error of the binocular camera on the slope detection can be controlled within 3cm, the distance error between the upper edge of the soil pile and the camera is within 2cm, and the error between the estimation of the volume of soil before and after the construction and the actual measurement is within 0.02m³, which meets the accuracy requirements of the autonomous slope repair construction. It meets the accuracy requirements of the slope repair construction.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Congfeng Tian, Changchun Ma, Ziyao Xu, Yongkang Liu, and Quancheng Dong "Real-time monitoring and feedback design for autonomous slope repair based on binocular vision", Proc. SPIE 12797, Second International Conference on Geographic Information and Remote Sensing Technology (GIRST 2023), 127971T (30 August 2023); https://doi.org/10.1117/12.3007362

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KEYWORDS

Point clouds

Binocular vision

Cameras

Image segmentation

Design and modelling

3D modeling

Reconstruction algorithms

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