Towards mobile mapping of underground mines

• Main Authors: Nüchter, Andreas, Elseberg, Jan, Janotta, Peter
• Other Authors: TU Bergakademie Freiberg, Geowissenschaften, Geotechnik und Bergbau
• Format: Others
• Language: English
• Published: Technische Universitaet Bergakademie Freiberg Universitaetsbibliothek "Georgius Agricola" 2018
• Subjects: Real-Time Mining; Konferenz; Conference; Mobile laser scanning; underground mapping; SLAM; ddc:624; Bergbau; Bergwerk; Markscheidekunde; Geoinformation; Prospektion
• Online Access: http://nbn-resolving.de/urn:nbn:de:bsz:105-qucosa-231186; http://nbn-resolving.de/urn:nbn:de:bsz:105-qucosa-231186; http://www.qucosa.de/fileadmin/data/qucosa/documents/23118/11.Towards%20Mobile%20Mapping%20of%20Underground%20Mines_RTM2017-11_1b.pdf

Mobile laser scanning systems automate the acquisition of 3D point clouds of environments. The mapping systems are commonly mounted on cars or ships. This paper presents a flexible mapping solution mounted on an underground vehicle that is able to map underground mines in 3D in walking speeds. A clever choice of hard- and software enables the system to generate 3D maps without using GPS (global positioning system) information and without relying on highly expensive IMU (inertial measurement unit) systems.