A system for volumetric robotic mapping of abandoned mines

Sebastian Thrun; Dirk Hähnel; David Ferguson; Michael Montemerlo; Rudolph Triebel; Wolfram Burgard; Christopher Baker; Zachary Omohundro; Scott Thayer; William Whittaker

A system for volumetric robotic mapping of abandoned mines

Sebastian Thrun, Dirk Hähnel, David Ferguson, Michael Montemerlo, Rudolph Triebel, Wolfram Burgard, Christopher Baker, Zachary Omohundro, Scott Thayer, William Whittaker

Publikation: Beitrag in Fachzeitschrift › Konferenzartikel › Begutachtung

198 Zitate (Scopus)

Abstract

This paper describes 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 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 report results obtained in two mines, a research mine in Bruceton, PA, and an abandoned coal mine in Burgettstown, PA.

Originalsprache	Englisch
Seiten (von - bis)	4270-4275
Seitenumfang	6
Fachzeitschrift	Proceedings - IEEE International Conference on Robotics and Automation
Jahrgang	3
Publikationsstatus	Veröffentlicht - 2003
Extern publiziert	Ja
Veranstaltung	2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan Dauer: 14 Sept. 2003 → 19 Sept. 2003

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title = "A system for volumetric robotic mapping of abandoned mines",

abstract = "This paper describes 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 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 report results obtained in two mines, a research mine in Bruceton, PA, and an abandoned coal mine in Burgettstown, PA.",

author = "Sebastian Thrun and Dirk H{\"a}hnel and David Ferguson and Michael Montemerlo and Rudolph Triebel and Wolfram Burgard and Christopher Baker and Zachary Omohundro and Scott Thayer and William Whittaker",

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AU - Thrun, Sebastian

AU - Hähnel, Dirk

AU - Ferguson, David

AU - Montemerlo, Michael

AU - Triebel, Rudolph

AU - Burgard, Wolfram

AU - Baker, Christopher

AU - Omohundro, Zachary

AU - Thayer, Scott

AU - Whittaker, William

PY - 2003

Y1 - 2003

N2 - This paper describes 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 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 report results obtained in two mines, a research mine in Bruceton, PA, and an abandoned coal mine in Burgettstown, PA.

AB - This paper describes 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 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 report results obtained in two mines, a research mine in Bruceton, PA, and an abandoned coal mine in Burgettstown, PA.

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AN - SCOPUS:0344877471

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JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - 2003 IEEE International Conference on Robotics and Automation

Y2 - 14 September 2003 through 19 September 2003

ER -

A system for volumetric robotic mapping of abandoned mines

Abstract

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