An Autonomous Robotic System for Mapping Abandoned Mines

David Ferguson , Aaron Christopher Morris, Dirk Haehnel, Christopher R. Baker , Zachary Omohundro, Carlos Reverte, Scott Thayer, William (Red) L. Whittaker, Chuck Whittaker, Wolfram Burgard, and Sebastian Thrun
Advances in Neural Information Processing Systems (NIPS 03), 2003.


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Abstract
We present the software architecture of a robotic system for mapping abandoned mines. The software is capable of acquiring consistent 2D maps of large mines with many cycles, represented as Markov random fields. 3D C-space maps are acquired from local 3D range scans, which are used to identify navigable paths using A* search. Our system has been deployed in three abandoned mines, two of which inaccessible to people, where it has acquired maps of unprecedented detail and accuracy.

Notes

Text Reference
David Ferguson , Aaron Christopher Morris, Dirk Haehnel, Christopher R. Baker , Zachary Omohundro, Carlos Reverte, Scott Thayer, William (Red) L. Whittaker, Chuck Whittaker, Wolfram Burgard, and Sebastian Thrun, "An Autonomous Robotic System for Mapping Abandoned Mines," Advances in Neural Information Processing Systems (NIPS 03), 2003.

BibTeX Reference
@inproceedings{Ferguson__2003_4577,
   author = "David {Ferguson } and Aaron Christopher Morris and Dirk Haehnel and Christopher R. {Baker } and Zachary Omohundro and Carlos Reverte and Scott Thayer and William (Red) L. Whittaker and Chuck Whittaker and Wolfram Burgard and Sebastian Thrun",
   title = "An Autonomous Robotic System for Mapping Abandoned Mines",
   booktitle = "Advances in Neural Information Processing Systems (NIPS 03)",
   year = "2003",
}