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3D Mine Mapping (Groundhog)
Head: Scott Thayer
Contact: Scott Thayer
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Project Homepage
Publications
  • Topological Exploration of Subterranean Environments

    David Silver, David Ferguson , Aaron Christopher Morris, and Scott Thayer
    Journal of Field Robotics, Vol. 23, No. 6, July, 2006, pp. 395-415.
    Details

  • Topological Global Localization for Subterranean Voids

    David Silver, Joseph Carsten, and Scott Thayer
    Field and Service Robotics, July, 2005.
    Details

  • Towards Topological Exploration of Abandoned Mines

    Aaron Christopher Morris, David Silver, David Ferguson , and Scott Thayer
    Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005, pp. 2117 - 2123.
    Details | pdf (511KB) | Copyrighted

  • Feature Extraction for Topological Mine Maps

    David Silver, David Ferguson , Aaron Christopher Morris, and Scott Thayer
    Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), September, 2004, pp. 773 - 779.
    Details | pdf (364KB) | Copyrighted

  • A Campaign in Autonomous Mine Mapping

    Christopher R. Baker, Aaron Christopher Morris, David Ferguson , Scott Thayer, Chuck Whittaker, Zachary Omohundro, Carlos Reverte, William (Red) L. Whittaker, Dirk Haehnel, and Sebastian Thrun
    Proceedings of the IEEE Conference on Robotics and Automation (ICRA), April, 2004, pp. 2004 - 2009.
    Details | pdf (1MB) | Copyrighted

  • Autonomous exploration and mapping of abandoned mines

    Sebastian Thrun, Scott Thayer, Chuck Whittaker, Christopher R. Baker, Wolfram Burgard, David Ferguson , Dirk Haehnel, Michael Montemerlo, Aaron Christopher Morris, Zachary Omohundro, Carlos Reverte, and William (Red) L. Whittaker
    IEEE Robotics and Automation Magazine, Vol. 11, No. 4, December, 2004, pp. 79-91.
    Details | pdf (3MB) | Copyrighted

  • A System for Volumetric Robotic Mapping of Abandoned Mines

    Sebastian Thrun, Dirk Haehnel, David Ferguson , Michael Montemerlo, Rudolph Triebel, Wolfram Burgard, Christopher R. Baker, Zachary Omohundro, Scott Thayer, and William (Red) L. Whittaker
    Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), May, 2003, pp. 4270 - 4275.
    Details | pdf (2MB) | Copyrighted