Visualization of Dump Truck and Excavator in Bird’s-eye View by Fisheye Cameras and 3D Range Sensor

In disaster sites, workers may not be allowed entry due to the risk of secondary disasters. Remote operation of construction machines is then necessary for emergency disaster recovery work. For remote operation of construction machines, a third-person view is effective. External cameras, such as mobile camera vehicles or fixed cameras, are commonly used to display the third-person view in remote construction sites. However, if mobile camera vehicles or external cameras can not be installed on-site, displaying a third-person view is not possible. To solve this problem, in this paper, using a 3D range sensor and fisheye cameras mounted onboard the remotely operated construction machine, we measure the positions and poses of other construction machines and display their 3D models inside a bird’s-eye view which is a reconstructed 3D view. This allows the remote operator to recognize the relative position and pose and easily operate the machine.