3D Mapping the Kvarntorp Mine – A Field Experiment for Evaluation of 3D Scan Matching Algorithms
نویسندگان
چکیده
This paper presents the results of a field experiment in the Kvarntorp mine outside of Örebro in Sweden. 3D mapping of the underground mine has been used to compare two scan matching methods, namely the iterative closest point algorithm (ICP [1], [3], [5]) and the normal distributions transform (NDT [2], [4]). The experimental results of the algorithm are compared in terms of robustness and speed. For robustness we measure how reliably 3D scans are registered with respect to different starting pose estimates. Speed is evaluated running the authors’ best implementations on the same hardware. This leads to an unbiased comparison.
منابع مشابه
Licentiate Thesis 3D Scan Matching for Mobile Robots with Application to Mine Mapping
This thesis is concerned with three-dimensional scan registration, in particular of underground mine tunnels. Registration of partial range scans is an essential part of building 3D maps, and autonomous creation of reliable maps is a first step towards autonomous mining vehicles. The thesis presents a survey of relevant sensor technology and discusses the advantages and disadvantages of differe...
متن کامل4D geomechanical simulations for field development planning
3D and 4D geomechanical can be time-consuming to build and calibrate. However, once such a model is built, it is relative straightforward to use this model for various field development and management applications. In so doing, the return on the initial investment of time and effort in the creation of a 4D geomechanical model can be substantial. I present a case study where a 4D geomechanical m...
متن کاملFundamentals of 3D modelling and resource estimation in coal mining
The prerequisite of maintaining an efficient and safe mining operation is the proper design of a mine by considering all aspects. The first step in a coal mine design is a realistic geometrical modelling of the coal seam(s). The structural features such as faults and folding must be reliably implemented in 3D seam models. Upon having a consistent seam model, the attributes such as calorific val...
متن کاملFabrication of New 3D Phantom for the measurement of Geometric Distortion in Magnetic Resonance Imaging System
Introduction: Geometric distortion, an important parameter in neurology and oncology. The current study aimed to design and construct a new three-dimensional (3D) phantom using a 3D printer in order to measure geometric distortion and its 3D reproducibility. Material and Methods: In this study, a new phantom ...
متن کاملDesign, Construction and Evaluation of an Anthropomorphic Head Phantom for Assessment of Image Distortion in Stereotactic Radiosurgery Planning Systems
Introduction: In recent years, the use of magnetic resonance (MR) images in radiation treatment planning has drawn considerable attention. However, although the extent of a tumor can be determined in great detail on MR images, the geometric accuracy of these images is limited by distortions stemming from the inhomogeneity of the static background magnetic field, the nonlineari...
متن کامل