Surface Reconstruction for Ground Map Generation in Autonomous Excavation

Excavator’s main tasks include digging, trenching, and ground leveling at construction sites, as well work efficiency safety can be improved by using an autonomous excavator. A prerequisite step to achieving excavation is obtain a sound perception of the surrounding ground. For this, LiDAR sensor has been widely used scan environment. However, point cloud generated not ideal for surface reconstruction generate map, it suffers from flaws such noise outlier points. To tackle this issue, our paper proposes advanced methodologies algorithms.