Fast Estimation of Loader’s Shovel Load Volume by 3D Reconstruction of Material Piles

Chinese Journal of Mechanical Engineering

Table 2 Calculation time of each picture used for 3D reconstruction of material piles (\(\mathrm{ms}\))

Items	BM	SGBM	ORB–MAPM	QORB–MAPM
Keypoint detection	––	––	1036.2	1544.41
Descriptor computation	––	––	351.61	430.60
Feature match	10537.65	84748.45	2223.63	2350.94
Dense 3D reconstruction	4694.55	6213.15	5994.16	5941.05
Total	15232.2	90961.6	9605.6	10267.0

Note: The calculation time consumed for Feature match in the BM and SGBM algorithms includes the total time required for Keypoint detection, Descriptor computation, and Feature match.