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

Research output: Contribution to journal › Conference article › peer-review

199 Scopus citations

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.

Original language	English
Pages (from-to)	4270-4275
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
State	Published - 2003
Externally published	Yes
Event	2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: 14 Sep 2003 → 19 Sep 2003

Cite this

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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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journal = "Proceedings - IEEE International Conference on Robotics and Automation",

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note = "2003 IEEE International Conference on Robotics and Automation ; Conference date: 14-09-2003 Through 19-09-2003",

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T1 - A system for volumetric robotic mapping of abandoned mines

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.

UR - http://www.scopus.com/inward/record.url?scp=0344877471&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0344877471

SN - 1050-4729

VL - 3

SP - 4270

EP - 4275

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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