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Development of Sand Volume Estimator for Under-Struck Excavator Bucket Using Single Camera
Int. J. Fuzzy Log. Intell. Syst. 2018;18(4):254-262
Published online December 25, 2018
© 2018 Korean Institute of Intelligent Systems.

In-Hwan Kim, Dong-Woo Lim, and Jin-Woo Jung

Department of Computer Science and Engineering, Dongguk University, Seoul, Korea
Correspondence to: Jin-Woo Jung (
Received December 20, 2017; Revised November 21, 2018; Accepted December 15, 2018.
This is an Open Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License ( which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.
To support the intelligence of construction environment, it is important to measure the workload of excavator in real time. But, previous studies are expensive to implement or can not processed in real time. In this paper, an image-based method to estimate the workload of the excavator bucket especially for the state of under-struck is proposed by assuming the shape of bucket and the shape of sand inside the bucket as geometric models. By analyzing the relation between single camera image and actual bucket geometry, the volume of sand which is proportional to the excavator workload is estimated. The experimental results show 93.5% accuracy even though only some part of sand region is unseen.
Keywords : Sand volume estimator, Excavator bucket modeling, Single camera