Automatic 3D underground mine mapping
Abstract
For several years, our research group has been developing methods for automated modeling of 3D environments. In September, 2002, we were given the opportunity to demonstrate our mapping capability in an underground coal mine. The opportunity arose as a result of the Quecreek mine accident, in which an inaccurate map caused miners to breach an abandoned, water- lled mine, trapping them for several days. Our eld test illustrates the feasibility and potential of high resolution three-dimensional (3D) mapping of an underground coal mine using a cartmounted 3D laser scanner. This paper presents our experimental setup, the automatic 3D modeling method used, and the results of the eld test. In addition, we address issues related to laser sensing in a coal mine environment.
BibTeX
@conference{Huber-2003-8693,author = {Daniel Huber and Nicolas Vandapel},
title = {Automatic 3D underground mine mapping},
booktitle = {Proceedings of 4th International Conference on Field and Service Robotics (FSR '03)},
year = {2003},
month = {July},
pages = {497 - 506},
keywords = {mine mapping, modeling from reality, laser},
}