Human-assisted Rapid 3D Workspace Modeling using Sparse Point Clouds for Heavy Equipment Operation on Construction Sites

This paper presents 3D workspace modeling to use for heavy equipment operation on construction sites. Construction environment severely prohibit operator to drive heavy equipment safely. According to the Occupational Safety and Health Administration (OSHA), a significant percentage of all fatalities in the construction industry stem from incidents involving the operation of heavy equipment (OSHA, 1990). Simulation based on 3D graphical modeling may assist operator to avoid this incidents on construction sites. Also, 3D graphical modeling is required for real time application such as equipment control as well as as-built data acquisition. However, current 3D graphical modeling has limitations including time consuming process, high systems required and labor intensive. This paper proposes rapid and efficient workspace modeling method by using sparse cloud points. It may takes 5-6 minutes to develop 3D modeling but traditional 3D CAD system took several hours or even days. Proposed modeling methods are successfully tested on construction sites. It is concluded that proposed research will contribute the realization of construction automation in the construction industry.