A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
IMU-based full-body pose estimation for construction machines using kinematics modeling
Abstract Monitoring unsafe operations of construction machines is important for reducing accidents on sites. To automate safety monitoring, this paper studies pose estimation of construction machines, which describes their motions in 3D space. Inertial Measurement Unit (IMU) is considered accurate, cost-saving and user-friendly for estimating the pose of machines. Nevertheless, the complexity and instability of construction sites hinder the application of IMU to construction machines. Hence, this study first defines the information requirements of IMU-based full-body pose estimation for construction machines. Then, an efficient method is developed to generate the trajectories of a machine based on kinematics. Moreover, an optimal installation scheme for IMU sensors is investigated systematically to optimize the location and number of IMUs to install. Overall, this study contributes an IMU-based method to provide full-body poses of machines without environmental constraints on real construction sites, and a theoretical basis of optimal IMU installation strategy for reliable motion-related analyses.
Highlights The information requirements are defined on IMU-based analysis of construction machine poses. A trajectory generation method is proposed to describe the change of joint angles. The practicability and performance of the proposed approach are fully verified in real scenarios. The average RMSE between the estimated pose and ground truth is 1.71 degrees. An optimal IMU installation strategy is proposed including location and number.
IMU-based full-body pose estimation for construction machines using kinematics modeling
Abstract Monitoring unsafe operations of construction machines is important for reducing accidents on sites. To automate safety monitoring, this paper studies pose estimation of construction machines, which describes their motions in 3D space. Inertial Measurement Unit (IMU) is considered accurate, cost-saving and user-friendly for estimating the pose of machines. Nevertheless, the complexity and instability of construction sites hinder the application of IMU to construction machines. Hence, this study first defines the information requirements of IMU-based full-body pose estimation for construction machines. Then, an efficient method is developed to generate the trajectories of a machine based on kinematics. Moreover, an optimal installation scheme for IMU sensors is investigated systematically to optimize the location and number of IMUs to install. Overall, this study contributes an IMU-based method to provide full-body poses of machines without environmental constraints on real construction sites, and a theoretical basis of optimal IMU installation strategy for reliable motion-related analyses.
Highlights The information requirements are defined on IMU-based analysis of construction machine poses. A trajectory generation method is proposed to describe the change of joint angles. The practicability and performance of the proposed approach are fully verified in real scenarios. The average RMSE between the estimated pose and ground truth is 1.71 degrees. An optimal IMU installation strategy is proposed including location and number.
IMU-based full-body pose estimation for construction machines using kinematics modeling
Tang, Jingyuan (author) / Luo, Han (author) / Chen, Weiwei (author) / Wong, Peter Kok-Yiu (author) / Cheng, Jack C.P. (author)
2022-03-17
Article (Journal)
Electronic Resource
English
Pose Estimation of Construction Materials Using Multiple ID Devices for Construction Automation
| British Library Conference Proceedings | 2006