Rapid 3D object detection and modeling using range data from 3D range imaging camera for heavy equipment operation

Automated detection and modeling of 3D objects located in a construction work environment is critical for autonomous heavy equipment operation. Such automation allows for accurate, efficient, and autonomous operation of heavy equipment in a broad range of construction tasks by providing interactive background information. This paper proposes a 3D object detection and modeling system which utilizes range data obtained by 3D range imaging camera to generate 3D object models with an acceptable level of accuracy in a few seconds. The proposed system consists of four steps: data acquisition, pre-processing, object segmentation, and 3D model generation. The system was tested on the modeling of different classes of construction objects on actual construction sites. The results show that the proposed 3D object detection and modeling system achieves a good balance between speed and accuracy, and hence could be used to enhance efficiency and productivity in the autonomous operation of heavy equipment.