Pose of I-Beams for Construction Site Automation

Published

September 21, 2004

Author(s)

David E. Gilsinn, Geraldine S. Cheok, Alan M. Lytle

Abstract

Automation of construction processes can result in reduced project costs and increased worker safety. A process that lends itself to automation is the picking and placing of objects. However, determining the pose (position and orientation) of an object is critical. LADAR (laser detection and ranging) data provides 3D information of a scene, but the data are noisy, contain outliers, and have phantom points along edges of objects. A preliminary algorithm to preprocess the data and to compute the object pose is presented. The algorithm was validated through comparison with experimental measurements.

Proceedings Title

Proceedings of the 21st Symposium

Conference Dates

September 21-25, 2004

Conference Location

Jeju Island, KO

Conference Title

International Symposium on Automation and Robotics in Construction

Pub Type

Conferences

Download Paper

Local Download

Keywords

binning, LADAR, object recognition, object segmentation, pose determination

Citation

Gilsinn, D. , Cheok, G. and Lytle, A. (2004), Pose of I-Beams for Construction Site Automation, Proceedings of the 21st Symposium, Jeju Island, KO, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=150893 (Accessed October 10, 2025)