Dynamic Visualization of Construction Sites with Machine-Borne Sensors Toward Automated Earth Moving

The digitization of the construction site environment has progressed rapidly. In this study, the operations of hydraulic excavators-which are machines widely used in the construction industry-were advanced to enable automation and unmanned operation. To achieve this, it is necessary to determine the environment of the machines at the sites, and a realtime measurement and visualization methodology that can be installed at common construction sites is required. In this study, we propose a measurement system for reconstructing a wide range of surrounding environments using machine -borne sensors mounted on a hydraulic excavator. The proposed system measures the entire surrounding environment using a sensor unit composed of a laser imaging detection and ranging (LiDAR) and a wide-angle camera. Furthermore, methods of time -series integration for widerange and dynamic measurements during work for occlusion -robust visualization are proposed. In an experiment using actual machines on an earth -moving site, we validated the performance of our proposed system by quantitative evaluation and confirmed that the system provides an effective solution for the digitization of construction sites.