Moving object classification using multilayer laser scanning with space subdivision framework

M. Nakagawa, M. Taguchi

Research output: Contribution to journalConference articlepeer-review


In this paper, we focus on the development of intelligent construction vehicles to improve the safety of workers in construction sites. Generally, global navigation satellite system positioning is utilized to obtain the position data of workers and construction vehicles. However, construction fields in urban areas have poor satellite positioning environments. Therefore, we have developed a 3D sensing unit mounted on a construction vehicle for worker position data acquisition. The unit mainly consists of a multilayer laser scanner. We propose a real-Time object measurement, classification and tracking methodology with the multilayer laser scanner. We also propose a methodology to estimate and visualize object behaviors with a spatial model based on a space subdivision framework consisting of agents, activities, resources, and modifiers. We applied the space subdivision framework with a geofencing approach using real-Time object classification and tracking results estimated from temporal point clouds. Our methodology was evaluated using temporal point clouds acquired from a construction vehicle in drilling works.

Original languageEnglish
Pages (from-to)103-108
Number of pages6
JournalISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Issue number4
Publication statusPublished - 2020 Aug 3
Event2020 24th ISPRS Congress - Technical Commission IV on Spatial Information Science - Nice, Virtual, France
Duration: 2020 Aug 312020 Sept 2


  • Laser scanning
  • Multilayer laser scanner
  • Object classification
  • Object tracking
  • Space subdivision

ASJC Scopus subject areas

  • Earth and Planetary Sciences (miscellaneous)
  • Environmental Science (miscellaneous)
  • Instrumentation


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