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Pose of I-Beams for Construction Site Automation



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


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


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


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], (Accessed June 19, 2024)


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Created September 21, 2004, Updated February 19, 2017