A System for Three-Dimensional Robotic Mapping of Underground Mines

Abstract

The authors describe two robotic systems for acquiring high-resolution volumetric maps of underground mines. Their systems have been deployed in an operational coal mine in Bruceton, Pennsylvania, where they have been used to generate interactive 3-dimensional maps. Their approach includes a novel sensor head assembled from multiple SICK laser range finders, and a real-time algorithm for scan matching that generates accurate volumetric maps. The scan matching algorithm performs horizontal and vertical simultaneous localization and mapping (SLAM). Data from the horizontal scans is used to remove artifacts in the vertical scans, and vice versa. The system can construct full 3-dimensional volumetric maps hundreds of meters in diameter, even when no odometry information is available.

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Document Details

Document Type
Technical Report
Publication Date
Oct 27, 2002
Accession Number
ADA457621

Entities

People

  • David Ferguson
  • Dirk Haehnel
  • Michael Montemerlo
  • Rudolph Triebel
  • Scott Thayer
  • Sebastian Thrun
  • William Whittaker
  • Wolfram Burgard

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Accuracy
  • Autonomous Navigation
  • Cartography
  • Computer Science
  • Detectors
  • Maps
  • Measurement
  • Range Finders
  • Robot Mapping
  • Robots
  • Simultaneous Localization And Mapping
  • Three Dimensional
  • Two Dimensional
  • United States

Readers

  • Computer Vision.
  • Explosive Engineering.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Directed Energy