Digging for Data: Experiments in Rock Pile Characterization Using Only Proprioceptive Sensing
Автор: Robot Navigation and Perception Lab Örebro
Загружено: 2026-02-12
Просмотров: 71
Описание:
This work shows how excavators can "feel" the size of rocks they're digging using onboard accelerometers - no cameras needed. Through full-scale field experiments with an Epiroc 18-tonne battery electric LHD at an operating quarry, we found this approach estimates average rock size just as accurately as industry-standard camera-based systems and laboratory sieve analysis. This video provides a brief overview of the experimental setup of placing scales on the rock pile, bucket and spread out fragmented rock. Additionally, excavation examples are provided highlighting the more heterogeneous and larger rock pile excavation takes longer.
Authors: Unal Artan, Martin Magnusson, Joshua A. Marshall
Journal: IEEE Transactions on Field Robotics (T-FR)
Paper: https://arxiv.org/abs/2602.11082
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