Inline blade wear estimation based on processed soil surface

A computer program product comprising program code, wherein the program code is stored on a non-transitory machine-readable medium, wherein the program code comprises a program code segment for deriving a wear state of a soil interaction component of a soil processing implement of a construction vehicle, wherein the computer program product comprises computer-executable instructions for performing:

• retrieving input data comprising:
• a geometry model regarding an assumed shape of the soil interaction component,
• tracking data of the soil interaction component, and
• visual perception sensor data of a soil area affected by engaging with the soil interaction component,
• deriving on the basis of the input data:
• visual 3D perception data of the soil area affected by the engaging with the soil interaction component, and
• an expected 3D surface model caused by the engaging, wherein the visual 3D perception data and the expected 3D surface model are referenced to one another,
• determining a deviation of an effective shape of the soil interaction component from the assumed shape on the basis of comparing the visual 3D perception data with the expected 3D surface model, and
• providing adjustment commands to the construction vehicle for adjusting the soil processing implement on the basis of the determined deviation, wherein the adjustment commands are provided to adjust the soil processing implement such that an anticipated wear with adjustment of the soil processing implement reduces the deviation of the effective shape of the soil interaction component from the assumed shape.