Simple and Effective Load Volume Estimation in Moving Trucks using LiDARs

  • Lucas L. Amorim Federal University of Espírito Santo
  • Filipe Mutz Federal Institute of Espirito Santo
  • Claudine Badue Federal University of Espírito Santo
  • Alberto de Souza Federal University of Espírito Santo
  • Thiago Oliveira-Santos Federal University of Espírito Santo


Industries need to track the amount of materialsand goods transported through processing units in order tooptimize production. In large-scale industries, trucks and trainsare commonly used for transportation. The manual evaluationof the volume of material being transported by these vehiclescan be imprecise, inefficient, and even unsafe for employees.Therefore, this work presents an automated system for estimatingthe volume of load in moving trucks using a pair of multi-layerlight detection and ranging (LiDAR) sensors. The sensors aremounted in a structure so that trucks can pass through withoutstopping. The proposed system can be used with any type ofcompact load such as grains, and powders. A mesh of the load isbuilt and used for estimating the volume. A simple, efficient, andeffective heuristic is proposed for tracking the truck’s positions.The system was deployed and evaluated in a mining company inreal conditions of operation. Experimental results indicate thatthe system produces accurate estimates of the volume of orepowder transported by trucks. The reconstruction of the loadsand the estimative of their volumes are performed once the datais acquired and lasts less than 1.5 minutes on average.

Palavras-chave: point cloud registration, GICP, mesh reconstruction, volume measurement


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AMORIM, Lucas L. ; MUTZ, Filipe; BADUE, Claudine; DE SOUZA, Alberto; OLIVEIRA-SANTOS, Thiago. Simple and Effective Load Volume Estimation in Moving Trucks using LiDARs. In: CONFERENCE ON GRAPHICS, PATTERNS AND IMAGES (SIBGRAPI), 32. , 2019, Rio de Janeiro. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2019 . DOI: