# 3D Point Cloud Dataset of Heavy Construction Equipment
## 3 Development of 3D-ConHE Dataset
### 3.1 3D Point Cloud Data Generation and Collection
\begin{tabular}{c} **Number of** \\ **Motion Joints** \\ \end{tabular}  & **Number of** & **Scan** \\ \cline{3-5}  
In this research, the SHINING 3D EinScan-SP 3D laser (Hangzhou, China) scanner was used to scan diecast models (Figure 4). The indoor portable laser scanner employed in this research consists of a 3D laser scanner, a stand, and a turntable; as illustrated in Figure 4. This 3D scanner has an accuracy within 0.05 mm, and it can scan objects up to a maximum size of 1200 mm (width) \(\times\) 1200 mm (depth) \(\times\) 1200 mm (height). The scanning process involved placing a diecast model on the turntable and rotating it horizontally by 40\({}^{\circ}\) for each scan. The 3D scanner in this research conducted one scan for each 40\({}^{\circ}\) horizontal rotation, with the scan data saved as ASC files. Subsequently, the scan data generated by rotating the diecast model 360\({}^{\circ}\) was merged to create mesh data in STL format. This scanning method led to the creation of 669 STL files for the five heavy construction equipment models. Figure 3: Examples of motion joint of a excavator combination when scanned. Figure 2: Motion joint locations of heavy construction equipment diecast models. Figure 4: 3D scanner used to scan heavy construction equipment diecast models. \begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline \multirow{2}{*}{**Type**} & \multirow{2}{*}{**Number of**} & \multirow{2}{*}{**\begin{tabular}{} \end{tabular}**} & \multirow{2}{*}{**\begin{tabular}{} \end{tabular}**} & \multirow{2}{*}{**\begin{tabular}{} \end{tabular}**} & \multirow{2}{*}{**\begin{tabular}{} \end{tabular}**} & \multirow{2}{*}{**\begin{tabular}{} \end{tabular}**} & \multirow{2}{*}{**\
\begin{tabular}{} \end{tabular}**} & \multirow{2}{*}{**
\begin{tabular}{} \end{tabular}**} \\  & & & & & & & \\ \hline \multirow{4}{*}{Excavator} & \multirow{4}{*}{4} & Vertical: & Vertical: & Vertical: & Horizontal & & \\  & MAX, MID, & MAX, MID, & MAX, MID, & MAX, MID, & Rotation: & & 540 \\  & & MIN & MIN & MIN & \(0^{\circ},45^{\circ},90^{\circ},135^{\circ}\) & & \\ \hline \multirow{4}{*}{Roller} & \multirow{4}{*}{1} & Horizontal: & & & & & & \\  & & LEFT, LEFT & & & & & & \\  & & MID, MID, & & - & - & - & 5 \\  & & RIGHT MID & & & & & & \\ \cline{2-8}  & & \multirow{4}{*}{1} & Horizontal: & & & & & \\  & & LEFT, MID, & & & & & 3 \\  & & RIGHT & & & & & \\ \hline \multirow{4}{*}{Dump Truck} & \multirow{4}{*}{1} & Vertical: & & & & & & \\  & & MAX, MID, & MIN & - & - & - & 9 \\ \hline \multirow{4}{*}{Grader} & \multirow{4}{*}{2} & Horizontal: & & Vertical: & & & & \\  & & LEFT, MID, & MAX, MIN & - & - & 18 \\ \cline{2-8}  & & \multirow{4}{*}{4} & Horizontal: & & Horizontal: & & Horizontal: & & \\  & & LEFT, MID, & MAX, MIN & LEFT, MID, & RIGHT & & 54 \\ \hline \multirow{4}{*}{Dozer} & \multirow{4}{*}{3} & Vertical: & & Vertical: & Vertical: & & \\  & MAX, MIN & MAX, MIN & MAX, MIN & MAX, MIN & - & 24 \\ \cline{1-1} \cline{2-8}  & & \multirow{4}{*}{2} & Vertical: & & & & \\ \cline{1-1} \cline{2-8}  & & \multirow{4}{*}{3} & Horizontal: & & Vertical: & & & \\ \cline{1-1}  & & LEFT, MID, & MAX, MIN & MAX, MIN & - & 12 \\ \cline{1-1}  & & RIGHT & & & & & \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Heavy construction equipment diecast models’ motion joint movement directions and the number of scans.