摘要 : Monitoring unsafe operations of construction machines is important for reducing accidents on sites. To automate safety monitoring, this paper studies pose estimation of construction machines, which describes their motions in 3D sp... 展开 Monitoring unsafe operations of construction machines is important for reducing accidents on sites. To automate safety monitoring, this paper studies pose estimation of construction machines, which describes their motions in 3D space. Inertial Measurement Unit (IMU) is considered accurate, cost-saving and user-friendly for estimating the pose of machines. Nevertheless, the complexity and instability of construction sites hinder the application of IMU to construction machines. Hence, this study first defines the information requirements of IMU-based full -body pose estimation for construction machines. Then, an efficient method is developed to generate the tra-jectories of a machine based on kinematics. Moreover, an optimal installation scheme for IMU sensors is investigated systematically to optimize the location and number of IMUs to install. Overall, this study contributes an IMU-based method to provide full-body poses of machines without environmental constraints on real con-struction sites, and a theoretical basis of optimal IMU installation strategy for reliable motion-related analyses. 收起