Feature Extraction for Topological Mine Maps
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 773 - 779, September, 2004
Abstract
We present a robust method for detecting and recognizing topological features in underground mines. Our method involves performing Delaunay triangulations on range scans to extract points of interest, such as intersecting corridors. By combining these interest points into a topological map, we have a valuable tool for navigation and localization in large scale, highly cyclic environments. We present results from a research coal mine near Pittsburgh, PA.
BibTeX
@conference{Silver-2004-9019,author = {David Silver and David Ferguson and Aaron Christopher Morris and Scott Thayer},
title = {Feature Extraction for Topological Mine Maps},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2004},
month = {September},
volume = {1},
pages = {773 - 779},
}
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