Martin Magnusson and Håkan Almqvist
Consistent Pile-Shape Quantification for Autonomous Wheel Loaders
Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
Abstract: This paper presents a study of approaches for selecting an efficient attack pose when loading piled materials with industrial construction vehicles. Automated handling of piled materials is a highly desired goal in many construction and mining applications. The main contributions of the paper are an experimental study of two novel approaches for selecting an attack pose from 3D data, compared to previously published approaches and extensions thereof. The outcome is based on quantitative validation, both with simulated data and data from a real-world scenario with nontrivial ground topology.
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  AUTHOR = {Martin Magnusson and H{\aa}kan Almqvist},
  TITLE = {Consistent Pile-Shape Quantification for Autonomous Wheel Loaders},
  BOOKTITLE = {Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
  YEAR = {2011},
  PAGES = {4078--4083}