Volume 25 Issue 1 - Publication Date: 1 January 2006
Special Issue on the Fourth International Conference on Field and Service Robotics, 2003
Automatic Three-dimensional Underground Mine Mapping
AuthorD. F. Huber and N. Vandapel The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA
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.
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