Real-time mapping of construction workers using multilayered LiDAr

In this study, we focus on intelligent construction vehicles to improve the safety of workers. Generally, global navigation satellite system positioning is utilized to obtain the position data of workers and construction vehicles in construction sites. 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 multilayered LiDAR. Moreover, we propose a real-time object classification and tracking methodology from temporal point clouds acquired with the multilayered LiDAR. We evaluated our methodology using temporal point clouds acquired from a construction vehicle in drilling works.