Robust and Efficient Measurement Using a 3D Laser Line Sensor on UGVs 


Vol. 13,  No. 9, pp. 468-473, Sep.  2024
https://doi.org/10.3745/TKIPS.2024.13.9.468


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  Abstract

Excavation work in urban areas can induce ground deformation, which may damage nearby infrastructure. Such ground deformation can result in displacement of paving blocks near the construction site. Accurate measurement of these displacements can serve as an indicator for assessing the potential risks associated with ground deformation. This paper proposes a robust and efficient method for paving block displacement measurement using a 3D laser line sensor mounted on an Unmanned Ground Vehicle (UGV). The proposed method consists of two stages: 2D projection based object detection and measurement through the CPLF algorithm. Experimental results demonstrate that the CPLF algorithm is more efficient compared to the PLF algorithm, achieving an error of 1.36 mm and a processing time of 10.76 ms, confirming that the proposed method ensures robust online measurements with high accuracy in real-world environments with various types of paving blocks and environmental factors using a 3D laser line sensor on a UGV.

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[IEEE Style]

J. Shin, J. Park, S. Kim, T. Kim, J. Jung, "Robust and Efficient Measurement Using a 3D Laser Line Sensor on UGVs," The Transactions of the Korea Information Processing Society, vol. 13, no. 9, pp. 468-473, 2024. DOI: https://doi.org/10.3745/TKIPS.2024.13.9.468.

[ACM Style]

Jiwoo Shin, Jun-Yong Park, Seoyeon Kim, Taesik Kim, and Jinman Jung. 2024. Robust and Efficient Measurement Using a 3D Laser Line Sensor on UGVs. The Transactions of the Korea Information Processing Society, 13, 9, (2024), 468-473. DOI: https://doi.org/10.3745/TKIPS.2024.13.9.468.

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