Real-Time Bucket Pose Estimation Based on Deep Neural Network and Registration Using Onboard 3D Sensor
Author:
Xu Zijing1ORCID, Bi Lin12, Zhao Ziyu1ORCID
Affiliation:
1. School of Resources And Safety Engineering, Central South University, Changsha 410083, China 2. Digital Mine Research Center, Central South University, Changsha 410083, China
Abstract
Real-time and accurate bucket pose estimation plays a vital role in improving the intelligence level of mining excavators, as the bucket is a crucial component of the excavator. Existing methods for bucket pose estimation are realized by installing multiple non-visual sensors. However, these sensors suffer from cumulative errors caused by loose connections and short service lives caused by strong vibrations. In this paper, we propose a method for bucket pose estimation based on deep neural network and registration to solve the large registration error problem caused by occlusion. Specifically, we optimize the Point Transformer network for bucket point cloud semantic segmentation, significantly improving the segmentation accuracy. We employ point cloud preprocessing and continuous frame registration to reduce the registration distance and accelerate the Fast Iterative Closest Point algorithm, enabling real-time pose estimation. By achieving precise semantic segmentation and faster registration, we effectively address the problem of intermittent pose estimation caused by occlusion. We collected our own dataset for training and testing, and the experimental results are compared with other relevant studies, validating the accuracy and effectiveness of the proposed method.
Funder
National Key Technology Project of China
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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