Application of Images and Laser Range to Detection of Workers Around Heavy Construction Equipment

摘要

This paper describes the application of sensors to prevent collision accidents with heavy equipment such as hydraulic excavators and cranes. From the results of an existing system evaluation, the author developed a system that measures distance from heavy equipment to personnel using a camera, 2-D laser range finder, and 3-D orientation sensor. A prototype was made and it has been confirmed that the detection of personnel is possible based on camera images and laser range data.