A Fusion Positioning System Based on Camera and LiDAR for Unmanned Rollers in Tunnel Construction.

As an important vehicle in road construction, the unmanned roller is rapidly advancing in its autonomous compaction capabilities. To overcome the challenges of GNSS positioning failure during tunnel construction and diminished visual positioning accuracy under different illumination levels, we propose a feature-layer fusion positioning system based on a camera and LiDAR. This system integrates loop closure detection and LiDAR odometry into the visual odometry framework. Furthermore, recognizing the prevalence of similar scenes in tunnels, we innovatively combine loop closure detection with the compaction process of rollers in fixed areas, proposing a selection method for loop closure candidate frames based on the compaction process. Through on-site experiments, it is shown that this method not only enhances the accuracy of loop closure detection in similar environments but also reduces the runtime. Compared with visual systems, in static positioning tests, the longitudinal and lateral accuracy of the fusion system are improved by 12 mm and 11 mm, respectively. In straight-line compaction tests under different illumination levels, the average lateral error increases by 34.1% and 32.8%, respectively. In lane-changing compaction tests, this system enhances the positioning accuracy by 33% in dim environments, demonstrating the superior positioning accuracy of the fusion positioning system amid illumination changes in tunnels.

Pose Estimation of Excavator Manipulator Based on Monocular Vision Marker System.

Excavation is one of the broadest activities in the construction industry, often affected by safety and productivity. To address these problems, it is necessary for construction sites to automatically monitor the poses of excavator manipulators in real time. Based on computer vision (CV) technology, an approach, through a monocular camera and marker, was proposed to estimate the pose parameters (including orientation and position) of the excavator manipulator. To simulate the pose estimation process, a measurement system was established with a common camera and marker. Through comprehensive experiments and error analysis, this approach showed that the maximum detectable depth of the system is greater than 11 m, the orientation error is less than 8.5°, and the position error is less than 22 mm. A prototype of the system that proved the feasibility of the proposed method was tested. Furthermore, this study provides an alternative CV technology for monitoring construction machines.

Distribution, seasonal variation and inhalation risks of polychlorinated dibenzo-p-dioxins and dibenzofurans, polychlorinated biphenyls and polybrominated diphenyl ethers in the atmosphere of Beijing, China.

Spatial distribution, seasonal variation and potential inhalation risks of polychlorinated dibenzo-p-dioxins and dibenzofurans (PCDD/Fs), polychlorinated biphenyls (PCBs) and polybrominated diphenyl ethers (PBDEs) were investigated in the atmosphere of Beijing, using passive air samplers equipped with polyurethane foam disks. Concentrations of ΣPCDD/Fs, ΣPCBs and ΣPBDEs ranged from 8.4 to 179 fg WHO2005-TEQ/m3, 38.6-139 and 1.5-176 pg/m3, respectively. PCDFs showed higher air concentrations than those of PCDDs, indicating the influence of industrial activities and other combustion processes. The non-Aroclor congener, PCB-11, was detected in air (12.3-99.4 pg/m3) and dominated the PCB congener profiles (61.7-71.5% to ∑PCBs). The congener patterns of PBDEs showed signatures from both penta-BDE and octa-BDE products. Levels of PCDD/Fs, PCBs and PBDEs at the industrial and residential sites were higher than those at rural site, indicating human activities in urban area as potential sources. Higher air concentrations of PCDD/Fs, PCBs and PBDEs were observed in summer, which could be associated with atmospheric deposition process, re-volatilization from soil surface and volatilization from use of technical products, respectively. Results of inhalation exposure and cancer risk showed that atmospheric PCDD/Fs, dioxin-like PCBs and PBDEs did not cause high risks to the local residents of Beijing. This study provides further aid in evaluating emission sources, influencing factors and potential inhalation risks of the persistent organic pollutants to human health in mega-cities of China.