Arbitrary viewpoint visualization of pose change of bulldozer and surrounding dangerous area

Abstract

This research proposes a new image visualization method of bulldozer and surrounding dangerous area to operator. Bulldozers are operated on uneven terrain which contains dangerous slope or obstacle. The objective of this research is to visualize the pose of bulldozer and surrounding terrain shape and to emphasis existence of dangerous terrain shape. Our proposed method consists of following three parts. First part is machine pose visualization. Machine pose is measured by on-board IMU and GNSS. The 3DCG model pose is changed according to measurement rotation and translation motion. Second part is terrain shape visualization. Terrain shape is measured by on-board laser radar and change projection plane shape. Third part is danger area detection and visualization. Danger area is detected by point density and incline of ground shape mesh. An experiment was conducted with a real bulldozer. The image which was generated by the proposed method was compared to what generated by the conventional method. Visibility of pose change of bulldozer and surrounding danger environment was improved.

Keywords

• teleoperation
• visualization
• image processing
• point cloud
• multi sensor