Automatic Three-dimensional Underground Mine Mapping
Journal Article, International Journal of Robotics Research, Vol. 25, No. 1, pp. 7 - 17, 2006
Abstract
For several years, our research group has been developing methods for automated modeling of three-dimensional (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-filled mine, trapping them for several days. Our field test illustrates the feasibility and potential of high-resolution 3D mapping of an underground coal mine using a cart-mounted 3D laser scanner. In this paper we present our experimental setup, the automatic 3D modeling method used, and the results of the field test.
BibTeX
@article{Huber-2006-9380,author = {Daniel Huber and Nicolas Vandapel},
title = {Automatic Three-dimensional Underground Mine Mapping},
journal = {International Journal of Robotics Research},
year = {2006},
month = {January},
volume = {25},
number = {1},
pages = {7 - 17},
}
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