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Mining operations depend on current, accurate maps of adjacent mine works to limit the risks of encroachment and breaching. Adjacent mines may be decades or centuries old with missing, inaccurate, or ambiguous maps. Dangers such as flooding, roof-fall, rotten support timbers, and poor ventilation preclude human entry to survey these spaces. Only robots may enter and directly observe these...
Summary The need for reliable maps of subterranean spaces too hazardous for humans to occupy has motivated the development of robotic mapping tools. For such systems to be fully autonomous, they must be able to deal with all varieties of subterranean environments, including those containing loops. This paper presents an approach for an autonomous mobile robot to determine if the area currently being...
Inherent dangers in mining operations motivate the use of robotic technology for addressing hazardous situations that prevent human access. In the context of this case study, we examine the application of a robotic tool for map verification and void profiling in abandoned limestone mines for analysis of cavity extent. To achieve this end, our device enables remote, highly accurate measurements...
A necessary goal in the calibration of any instrument is an indication of how well the particular device performs. In the specific case where a camera system is used in the process of three-dimensional reconstruction or stereopsis, geometric measures of the accuracy, precision, and repeatability of 3-D point measurements give a quantitative evaluation of the success of that algorithm. This paper...
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