Survey on 2D Lidar Feature Extraction for Underground Mine Usage

Robust and highly accurate position estimation in underground mines is investigated by considering a vehicle equipped with 2D laser scanners. A survey of available methods to process data from such sensors performed focus on feature extraction methods. Pros cons the usage different for positioning application are highlighted, suitable identified. Three state-of-the-art adapted scenario predefined map evaluated through experiments conducted simulated mine environment. Results indicate that perform parity method matching each ray individually map, better than point cloud scan pure ICP, assuming available. Furthermore, show more robustly handle imperfections or regions errors automatically disregarding these regions.