Carnegie Mellon University
Automatic 3D underground mine mapping

Daniel Huber and Nicolas Vandapel
International Conference on Field and Service Robotics, July, 2003.

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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.

mine mapping, modeling from reality, laser


Text Reference
Daniel Huber and Nicolas Vandapel, "Automatic 3D underground mine mapping," International Conference on Field and Service Robotics, July, 2003.

BibTeX Reference
   author = "Daniel Huber and Nicolas Vandapel",
   title = "Automatic 3D underground mine mapping",
   booktitle = "International Conference on Field and Service Robotics",
   month = "July",
   year = "2003",