I. Introduction
In order to reduce the number of fatal accidents in the construction field, the installation of advanced driver-assistance systems (ADASs) in construction machinery, such as excavators, is strongly recommended. Accidents occurring at construction sites account for 33% of all accidents in all industries, which represents the largest proportion among them [1]. In particular, the number of accidents involving contact with construction machinery occupies a large percentage. To reduce fatal accidents, ADAS that can detect people and objects is increasingly being used in construction machinery [2].