Rock Recognition Using Stereo Vision for Large Rock Breaking Operation

  • Anusorn Iamrurksiri
  • Takashi Tsubouchi
  • Shigeru Sarata
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 92)


At the work front in a quarry, many large rocks are generated by rock blasting. Since some of these rocks are too large to be fed into a rock crusher machine, a hydraulic breaker is used to break the oversized rocks into suitable sizes. The purpose of this study is an automation of rock breaking operation in working front of an open-pit quarry. In this paper we describe an approach using stereo vision to recognize position and shape of large rocks. For rock recognition and rock moving experiments, we set up scaled down experimental environment in laboratory and use small rocks and a robotic manipulator in experiments.


Stereo Vision Large Rock Rock Area Wrong Recognition Rock Pile 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Anusorn Iamrurksiri
    • 1
  • Takashi Tsubouchi
    • 1
  • Shigeru Sarata
    • 1
  1. 1.University of TsukubaTsukuba Japan

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