Abstract
Excavator’s main tasks include digging, trenching, and ground leveling at construction sites, as well as work efficiency and safety can be improved by using an autonomous excavator. A prerequisite step to achieving an autonomous excavation is to obtain a sound perception of the surrounding ground. For this, a LiDAR sensor has been widely used to scan the environment. However, the point cloud generated by the LiDAR is not ideal for surface reconstruction to generate a ground map, as it suffers from flaws such as noise and outlier points. To tackle this issue, our paper proposes advanced methodologies for surface reconstruction algorithms.