Abstract This paper reports a vision-based technique of measuring the spatio-temporal deformation of excavated soil for estimating the bucket resistive force. The proposed measurement technique uses two depth cameras to determine three-dimensional soil-surface displacement. The technique consists of the following two processes: the first is related to image correlation between the two cameras, and the second involves data filtering and smoothing for generating soil deformation as a continuously curved surface. The proposed technique delivers measurement accuracy to the nearest centimeter. Typical experimental results of the three-dimensional measurement of soil deformation using the proposed technique are presented in the paper. Further, this study updates an interaction model for the resistive-force estimation while a bucket excavates soil. The model introduces a correction variable that changes with the bucket wrist angle by exploiting the experimental measurement of soil deformation. The model estimates the resistive force with an error of less than one quarter of the maximum force. These updates also exhibit the effectiveness of the proposed technique.

中文翻译：

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基于视觉的挖掘土壤时空变形测量用于估计铲斗阻力

摘要 本文报道了一种基于视觉的测量挖掘土壤时空变形的技术，用于估计铲斗阻力。建议的测量技术使用两个深度相机来确定三维土壤表面位移。该技术包括以下两个过程：第一个涉及两个相机之间的图像相关性，第二个涉及数据过滤和平滑以生成连续曲面的土壤变形。所提出的技术将测量精度提供到最近的厘米。本文介绍了使用所提出的技术对土壤变形进行三维测量的典型实验结果。此外，本研究更新了铲斗挖掘土壤时阻力估计的相互作用模型。该模型通过利用土壤变形的实验测量引入了一个随铲斗手腕角度变化的修正变量。该模型估计阻力的误差小于最大力的四分之一。这些更新也展示了所提出技术的有效性。