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RI | Publications | Feature Extraction for Topological Mine Maps
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Feature Extraction for Topological Mine Maps
D. Silver, D. Ferguson, A.C. Morris, and S. Thayer
Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vol. 1, September, 2004, pp. 773 - 779.
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| 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.
| Notes |
Associated project: 3D Mine Mapping
Number of pages: 7
| Text Reference |
D. Silver, D. Ferguson, A.C. Morris, and S. Thayer, "Feature Extraction for Topological Mine Maps," Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vol. 1, September, 2004, pp. 773 - 779.
| BibTeX Reference |
@inproceedings{Silver_2004_4730,
author = "David Silver and David Ferguson and Aaron Christopher Morris and Scott Thayer",
title = "Feature Extraction for Topological Mine Maps",
booktitle = "Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS)",
month = "September",
year = "2004",
volume = "1",
pages = "773 - 779"
}