| Volume 22 Issue 7/8 - Publication Date: 1 July - August
2003 |
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| Special Issue on the 3rd International Conference on Field
and Service Robotics |
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| Three-Dimensional Imaging for
a Very Large Excavator |
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| J. Roberts, G. Winstanley
and P. Corke CSIRO Manufacturing and Infrastructure Technology,
PO Box 883, Kenmore, Australia |
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In this paper we describe
the development of a three-dimensional (3D) imaging system for a 3500
tonne mining machine (dragline). Draglines are large walking cranes used
for removing the dirt that covers a coal seam. Our group has been developing
a dragline swing automation system since 1994. The system so far has been
"blind" to its external environment. The work presented in this paper
attempts to give the dragline an ability to sense its surroundings. A
3D digital terrain map (DTM) is created from data obtained from a two-dimensional
laser scanner while the dragline swings. Experimental data from an operational
dragline are presented. |
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| Multimedia Key |
= Video |
 = Data |
= Code |
= Image |
|
| |
|
Extension |
Type |
Description |
1 |
|
Example One:
Raw data for the "bridge" example. Columns represent X,Y
and Z, respectively (units are m). (6.2
MB Zip file) or (6.3
MB Sit file) |
2 |
|
Example
Two: A 3D view of a raw "bridge" data (colour represents
height). (49 kb) |
3 |
|
Example
Three: A 3D view of the processed "bridge" DTM. (32
kb) |
4 |
|
Example
Four: A VRML 2.0 file of the "bridge" DTM. (9.0 MB) |
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