{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T17:14:28Z","timestamp":1740158068762,"version":"3.37.3"},"reference-count":26,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2023,2,6]],"date-time":"2023-02-06T00:00:00Z","timestamp":1675641600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2023,2,6]],"date-time":"2023-02-06T00:00:00Z","timestamp":1675641600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100014438","name":"Business Finland","doi-asserted-by":"crossref","award":["4294\/31\/2018"],"award-info":[{"award-number":["4294\/31\/2018"]}],"id":[{"id":"10.13039\/501100014438","id-type":"DOI","asserted-by":"crossref"}]},{"name":"University of Oulu including Oulu University Hospital"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Vis"],"published-print":{"date-parts":[[2023,8]]},"abstract":"<jats:sec>\n                <jats:title>Abstract<\/jats:title>\n                <jats:p>Real-time, three-dimensional (3D) visualisation technology can be used at construction sites to improve the quality of work. A 3D view of the landscape under work can be compared to a target 3D model of the landscape to conveniently show needed excavation tasks to a human excavator operator or to show the progress of an autonomous excavator. The purpose of this study was to demonstrate surface visualisation from measurements taken with a pulsed time-of-flight (TOF) 2D profilometer on-board a semiautonomous excavator. The semiautomatic excavator was implemented by recording the feedback script parameters from the work performed on the excavator by a human driver. 3D visualisation maps based on the triangle mesh technique were generated from the 3D point cloud using measurements of the trenches dug by a human and an autonomous excavator. The accuracy of the 3D maps was evaluated by comparing them to a high-resolution commercial 3D scanner. An analysis of the results shows that the 2D profilometer attached to the excavator can achieve almost the same 3D results as a high-quality on-site static commercial 3D scanner, whilst more easily providing an unobstructed view of the trench during operation (a 3D scanner placed next to a deep trench might not have a full view of the trench). The main technical advantages of our 2D profilometer are its compact size, measurement speed, lack of moving parts, robustness, low-cost technology that enables visualisations from a unique viewpoint on the boom of the excavator, and readiness for real-time control of the excavator\u2019s system. This research is expected to encourage the efficiency of the digging process in the future, as well as to provide a remarkable view of trench work using an excavator as a moving platform to facilitate data visualisation.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Graphical abstract<\/jats:title>\n                \n              <\/jats:sec>","DOI":"10.1007\/s12650-023-00908-4","type":"journal-article","created":{"date-parts":[[2023,2,6]],"date-time":"2023-02-06T18:03:11Z","timestamp":1675706591000},"page":"889-898","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Trench visualisation from a semiautonomous excavator with a base grid map using a TOF 2D profilometer"],"prefix":"10.1007","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9940-6072","authenticated-orcid":false,"given":"Ilpo","family":"Niskanen","sequence":"first","affiliation":[]},{"given":"Matti","family":"Immonen","sequence":"additional","affiliation":[]},{"given":"Tomi","family":"Makkonen","sequence":"additional","affiliation":[]},{"given":"Lauri","family":"Hallman","sequence":"additional","affiliation":[]},{"given":"Martti","family":"Mikkonen","sequence":"additional","affiliation":[]},{"given":"Pekka","family":"Ker\u00e4nen","sequence":"additional","affiliation":[]},{"given":"Juha","family":"Kostamovaara","sequence":"additional","affiliation":[]},{"given":"Rauno","family":"Heikkil\u00e4","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,2,6]]},"reference":[{"key":"908_CR1","volume-title":"Visualizing quaternions","author":"H Andrew","year":"2006","unstructured":"Andrew H (2006) Visualizing quaternions. 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