Dumping Point Localization of Autonomous Excavation Based on Vision in Trenching Tasks

To solve the problem of the precise position of the dumping points in autonomous excavation, a method of dumping point localization is proposed by using a pose estimation system of monocular vision markers in the excavator coordinate system. Firstly, a marker and a camera are used to establish a pose system prototype of the dumping point for the autonomous excavation. Then, based on the principle of pose estimation, a visual marker detection system is designed, and the position error analysis of pose estimation is proposed. Finally, the field test shows that the proposed localization method can precisely obtain the position of the dumping point.