{"id":"https://openalex.org/W135193196","doi":null,"title":"Estimating and verifying truck pose for automated excavator loading","display_name":"Estimating and verifying truck pose for automated excavator loading","publication_year":2012,"publication_date":"2012-01-01","ids":{"openalex":"https://openalex.org/W135193196","mag":"135193196"},"language":"en","primary_location":{"id":"mag:135193196","doi":null,"is_oa":false,"landing_page_url":"https://espace.library.uq.edu.au/view/UQ:303543","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},"parent_works":[],"lineage":["https://openalex.org/W135193196"],"child_works_count":0,"type":"article","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032973532","display_name":"Matthew Edward Green","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Matthew Edward Green","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5032973532"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.0015999999595806003,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.001500000013038516,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mining-automation","display_name":"mining automation","score":0.6779999732971191},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.8299999833106995},{"id":"https://openalex.org/keywords/ray-casting","display_name":"ray casting","score":0.7020000219345093},{"id":"https://openalex.org/keywords/hypothesis-testing","display_name":"hypothesis testing","score":0.7390000224113464},{"id":"https://openalex.org/keywords/multivariate-density-estimation","display_name":"multivariate density estimation","score":0.8740000128746033},{"id":"https://openalex.org/keywords/tolerance-regions","display_name":"tolerance regions","score":0.40400001406669617}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.9559208154678345},{"id":"https://openalex.org/C52121051","wikidata":"https://www.wikidata.org/wiki/Q43193","display_name":"Truck","level":2,"score":0.8642058372497559},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6299751400947571},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5894368886947632},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5392543077468872},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4762713611125946},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.457827627658844},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41666173934936523},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.318775475025177},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3135160207748413},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12913456559181213},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"mag:135193196","doi":null,"is_oa":false,"landing_page_url":"https://espace.library.uq.edu.au/view/UQ:303543","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4943999946117401,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2016750559","https://openalex.org/W2298912330","https://openalex.org/W7204272457","https://openalex.org/W6940471582","https://openalex.org/W4311683064","https://openalex.org/W4391259198","https://openalex.org/W3033223865","https://openalex.org/W4415981928","https://openalex.org/W2009471830","https://openalex.org/W4221004480"],"abstract_inverted_index":{"Mining":[0],"is":[1,32,83,111,136,151,227,284,288,392,411,460,468],"Australia's":[2],"largest":[3],"industry":[4],"and":[5,53,75,86,201,340],"generates":[6],"over":[7],"fty":[8],"percent":[9],"of":[10,22,27,37,43,47,79,104,118,121,128,144,156,171,195,205,230,245,268,291,307,310,312,330,343,395,421,466,474],"the":[11,20,25,35,66,72,80,102,112,116,119,122,132,137,149,168,177,193,196,217,228,243,246,289,296,302,308,313,327,331,344,365,373,378,382,393,430,442,449,457,463],"nation's":[12],"export":[13],"revenue.":[14],"The":[15,109,134,158,224,270,323,338,356,417,453],"on-going":[16],"imperative":[17],"to":[18,69,84,89,125,167,179,216,295,376,406,440,447],"reduce":[19],"costs":[21],"mining":[23,28,38],"motivates":[24],"automation":[26,36],"equipment.":[29],"This":[30,371],"thesis":[31,95,159,210],"focused":[33],"on":[34,471],"excavators":[39],"that":[40,93,99,148,188,221,255,300,304,456],"are":[41,185,222,316,348,438],"capable":[42],"excavating":[44],"120":[45],"tonnes":[46],"ore":[48],"in":[49,92,101,318,429],"each":[50,277,335,426],"dig":[51],"cycle":[52],"then":[54,360],"loading":[55,103],"into":[56],"a":[57,126,142,145,172,231,251,259,274,279,292,352,396,408],"haul":[58],"truck":[59,123,218,236,332,367],"for":[60,234,401,425],"transportation.":[61],"To":[62],"automate":[63],"this":[64,475],"process,":[65],"excavator":[67],"needs":[68,88],"accurately":[70],"know":[71],"relative":[73,124],"position":[74],"orientation":[76],"(or":[77],"pose)":[78],"trucks":[81,105],"it":[82,87],"load,":[85],"have":[90],"condence":[91],"pose.This":[94],"addresses":[96],"two":[97],"problems":[98,220],"arise":[100],"by":[106,350,381],"automated":[107],"excavators.":[108],"rst":[110,225],"pose":[113,120,138,143,150,219,237,298,314,333,345,368,402,409,458],"estimation":[114,423],"problem:":[115,140],"determination":[117],"frame":[127],"reference":[129],"associated":[130],"with":[131],"excavator.":[133],"second":[135,286],"verication":[139,450],"given":[141],"truck,":[146],"verify":[147,407],"within":[152,242,412,462],"an":[153,413],"allowed":[154,414],"tolerance":[155,415,465],"error.":[157],"uses":[160],"planar":[161,239,280,319,387],"scanning":[162],"LiDAR":[163,388],"range":[164,240,281,320],"sensors":[165,184],"xed":[166],"machine":[169,197],"house":[170],"P&H":[173],"2100":[174],"BLE":[175],"as":[176,198,203],"platform":[178],"address":[180],"both":[181],"problems.":[182],"These":[183,434],"orientated":[186],"so":[187],"their":[189],"scan":[190,282,321],"planes":[191],"map":[192],"surrounds":[194],"itswings":[199],"back":[200],"forth":[202],"part":[204],"its":[206],"normal":[207],"digging":[208],"motion.The":[209],"has":[211],"made":[212],"three":[213],"major":[214],"contributions":[215],"identifed.":[223],"contribution":[226,287,391],"development":[229,290,394],"recursive":[232,271,297,374],"method":[233],"estimating":[235],"from":[238,334,385],"measurements":[241],"framework":[244,400],"Kalman":[247],"lter.":[248],"It":[249],"utilizes":[250],"measurement":[252,283,383,432],"prediction":[253],"model":[254],"performs":[256],"ray-casting":[257],"against":[258],"geometric":[260],"scene":[261],"representation,":[262],"which":[263,404],"also":[264],"facilitates":[265],"automatic":[266],"segmentation":[267],"data.":[269,322],"estimator":[272,325,375],"derives":[273],"new":[275,336],"estimate":[276,315,410,459],"time":[278],"made.The":[285],"variable-structure":[293,324],"extension":[294],"estimator,":[299],"accommodates":[301],"fact":[303],"not":[305],"all":[306],"degrees":[309],"freedom":[311],"observable":[317,328,339,357],"identies":[326],"components":[329],"measurement.":[337],"unobservable":[341],"subspaces":[342],"state":[346,369],"space":[347],"decoupled":[349],"dening":[351],"fully-observable":[353],"externally-equivalent":[354],"system.":[355],"subspace":[358],"can":[359],"be":[361],"updated,":[362],"before":[363],"reforming":[364],"original":[366],"space.":[370],"allows":[372],"accommodate":[377],"constraints":[379],"imposed":[380],"process":[384],"excavator-mounted":[386],"sensors.The":[389],"third":[390],"statistical":[397],"hypothesis":[398],"testing":[399],"verication,":[403],"seeks":[405],"region.":[416],"test":[418,451],"makes":[419],"use":[420],"density":[422,444],"techniques":[424],"individual":[427],"ray":[428],"scanner":[431],"prole.":[433],"estimated":[435],"univariate":[436],"densities":[437],"combined":[439],"construct":[441],"multivariate":[443],"estimates":[445],"required":[446],"compute":[448],"statistic.":[452,476],"null":[454],"hypothesis,":[455],"sufficiently":[461],"allowable":[464],"error,":[467],"rejected":[469],"based":[470],"critical":[472],"values":[473]},"counts_by_year":[],"updated_date":"2026-09-06T09:10:53.072986","created_date":"2016-06-24T00:00:00"}