/3D Mine Mapping

3D Mine Mapping

Portrait of 3D Mine Mapping
Head: Scott Thayer
Contact: Scott Thayer
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Last Project Publication Year: 2006

We have two robotic systems developed for acquiring accurate volumetric maps of underground mines. One system is based on a cart instrumented by laser range finders, pushed through a mine by people. Another (Groundhog) is a remotely controlled mobile robot equipped with laser range finders. To build consistent maps of large mines with many cycles, we describe an algorithm for estimating global correspondences and aligning robot paths. This algorithm enables us to recover consistent maps several hundreds of meters in diameter, without odometric information. We have tested the robots in two mines, a research mine in Bruceton, PA, and an abandoned coal mine in Burgettstown, PA.

On October 27, 2002, the Groundhog robot was deployed in an abandoned coal mine, too toxic for people to enter (oxygen levels were too low for people to remain conscious). The previously flooded mine had been partially drained in the days before the experiment. Though the ground was still covered with toxic mud. the robot advanced more than 30 meters into the mine when the computer box flooded. A second experiment on October 29 led to an even deeper penetration, now with a water-sealed computer box. The robot was more than 50% submersed while a live video feed was broadcasted via satellites to a mine safety conference.

On May 30, 2003, Groundhog autonomously descended into the abandoned Mathies Mine near Pittsburgh, PA. The 1500-pound vehicle was equipped with laser range sensors, a night vision camera, gas detectors, sinkage sensors, and a gyroscope. 308 meters into the rapidly decaying mine, Groundhog encountered a broken ceiling beam that draped diagonally across the robot’s path. The robot made the appropriate decision to retreat.

Displaying 7 Publications
Topological Exploration of Subterranean Environments
David Silver, David Ferguson, Aaron Christopher Morris and Scott Thayer

Journal Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 23, No. 6, pp. 395-415, July, 2006
Topological Global Localization for Subterranean Voids
David Silver, Joseph Carsten and Scott Thayer

Conference Paper, Field and Service Robotics, July, 2005
Towards Topological Exploration of Abandoned Mines
Aaron Christopher Morris, David Silver, David Ferguson and Scott Thayer

Conference Paper, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2117 - 2123, April, 2005
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

Journal Article, Carnegie Mellon University, IEEE Robotics and Automation Magazine, Vol. 11, No. 4, pp. 79-91, December, 2004
Feature Extraction for Topological Mine Maps
David Silver, David Ferguson, Aaron Christopher Morris and Scott Thayer

Conference Paper, Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), Vol. 1, pp. 773 - 779, September, 2004
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

Conference Paper, Proceedings of the IEEE Conference on Robotics and Automation (ICRA), Vol. 2, pp. 2004 - 2009, April, 2004
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

Conference Paper, Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), Vol. 3, pp. 4270 - 4275, May, 2003

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