3D Work Environment Modeling for the Intelligent Excavation System (IES)

This paper presents a new method of real-time earth surveying using 3D laser scanner (3D imaging system) and the development of a customized software and a method for automatic data processing. Authors of this paper participate in the Intelligent Excavation System (IES) development project, which includes the development of technologies for surveying of earth environment and controlling unmanned excavator. This paper describes 3D earth work environment modelling part of the IES project. 3D laser scanner loaded on a mini-van scans the earth work area repeatedly to monitor the changes while earth work is done by excavators and loaders. Algorithm of registering (stitching) multiple scan segments into one 3D model on a common 3D coordination has been developed. Through a several experiments, important issues in 3D earth modelling have been found.