使用正常分布变形对未知垃圾车进行坚固的姿势估计和尺寸分类
Kai Imai1, Kota Watanabe1, Hiroaki Okabe2
1Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Tokyo 113-8656, Japan.
Sensors (Basel, Switzerland)
|September 27, 2025
概括
本研究介绍了一种两阶段的方法,用于自动化将土壤装载到垃圾车上. 它准确地估计了位置,并对未知的倾倒车的尺寸进行了分类,从而实现了高效的建筑自动化.
科学领域:
- 建筑自动化 建筑自动化
- 机器人技术 机器人技术 机器人技术
- 计算机视觉 计算机视觉
背景情况:
- 日本建筑业面临劳动力短缺,对自动化需求的增加.
- 将土壤自动装载到垃圾车上需要准确的垃圾车姿势和尺寸估计.
- 现有的方法与未知的垃圾车规格作斗争.
研究的目的:
- 开发一种可靠的方法来估计位置和分类未知规格的倾倒车的大小.
- 为了实现建筑中的自动化土壤加载操作.
主要方法:
- 一个两阶段的方法,结合姿势估计和尺寸分类.
- 使用正常分布变形 (NDT) 和专门的垃圾车模板来估计姿势.
- 旨在区分尺寸类别的NDT模板,同时适应类别内部的变化.
主要成果:
- 该方法准确地估计了垃圾车在现实环境中的各种位置和方向上的立场.
- 成功地将垃圾车分为三个预定义的大小类别.
- 实现大约0.13秒的计算时间,适合实际应用.
结论:
- 拟议的方法有效地解决了对未知规格的倾车姿势和尺寸估计的挑战.
- 它对建筑中的土壤加载过程的自动化做出了重大贡献.
- 这种方法对提高效率和解决建筑行业劳动力短缺问题充满希望.
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