Autonomous exploration and mapping of abandoned mines
نویسندگان
چکیده
منابع مشابه
An Autonomous Robotic System for Mapping Abandoned Mines
We present the software architecture of a robotic system for mapping abandoned mines. The software is capable of acquiring consistent 2D maps of large mines with many cycles, represented as Markov random fields. 3D C-space maps are acquired from local 3D range scans, which are used to identify navigable paths using A* search. Our system has been deployed in three abandoned mines, two of which i...
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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...
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Heap leaching is a well-established metallurgical technology which allows metal recovery (e.g., Au, Cu, U) from low-grade ores. However, spent heap leach materials remaining at abandoned or historic mine sites may represent a potential source of contamination. At the Croydon Au-mines, heap leaching operations (1984–1985) were performed on mineralized rhyolites hosting sulphides including pyrite...
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ژورنال
عنوان ژورنال: IEEE Robotics & Automation Magazine
سال: 2004
ISSN: 1070-9932
DOI: 10.1109/mra.2004.1371614