Graphics enhanced version of this site

An Autonomous Robotic System for Mapping Abandoned Mines
D. Ferguson, A.C. Morris, D. Haehnel, C. Baker, Z. Omohundro, C. Reverte, S. Thayer, W.L. Whittaker, C. Whittaker, W. Burgard, and S. Thrun
Advances in Neural Information Processing Systems (NIPS 03), 2003.

Jump to: Download | Abstract | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [1851 KB]

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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.

D. Ferguson, A.C. Morris, D. Haehnel, C. Baker, Z. Omohundro, C. Reverte, S. Thayer, W.L. Whittaker, C. Whittaker, W. Burgard, and S. Thrun, "An Autonomous Robotic System for Mapping Abandoned Mines," Advances in Neural Information Processing Systems (NIPS 03), 2003.

@inproceedings{Ferguson_2003_4577,
   author = "David Ferguson and Aaron Christopher Morris and Dirk Haehnel and Christopher 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"
}