Converting the actual scenes into three-dimensional models has inevitably become one of fundamental requirements in autonomous driving. At present, main obstacle to large-scale deployment is high-cost lidar for environment sensing. Monocular depth estimation aims predict scene and construct a 3D map via merely monocular camera. In this paper, we add geometric consistency constraints address non...

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...

Experiencing a city is different from panning over a map. Maps are powerful abstractions that cannot cover all aspects in dense and complex urban spaces where a lot of buildup, overlap, tunneling, underground and overground transportation is situated. In exploring such urban spaces, we explore the full dimensionality the city has to offer. This is an issue of both an added elevation dimension a...

The year 1931 saw the inception of what has become arguably world’s most successful cartographic design. Henry C. Beck, a technical draughtsman who had been laid off by Underground Electric...

One IGEX Ge double-beta decay detector is currently operating in the Canfranc Underground Laboratory in a search for dark matter WIMPs, through the Ge nuclear recoil produced by the WIMP elastic scattering. A new exclusion plot, σ(m), has been derived for WIMP-nucleon spin-independent interactions. To obtain this result, 40 days of data from the IGEX detector (energy threshold Ethr ∼ 4 keV), re...

In recent years, there has been a decline in the efficiency of coal mining by traditional methods. On one hand, volume outside contour cut, which is economically impractical for open-pit mining, increasing. other when using underground geotechnology, cost production exceeds performing operations open this due to differences factors operation pit and mine. This circumstance determines use open-u...

Contours maps (such as topographic maps) compress the information of a function over a two-dimensional area into a discrete set of closed lines that connect points of equal value (isolines), striking a fine balance between expressiveness and cognitive simplicity. They allow humans to perform many common sense reasoning tasks about the underlying function (e.g. elevation). This paper analyses an...

Conventional mine site investigation has difficulties in fostering location awareness and understanding the subsurface environment; moreover, it produces a large amount of hardcopy data. To overcome these limitations, the UMineAR mobile tablet application was developed. It enables users to rapidly identify underground mine objects (drifts, entrances, boreholes, hazards) and intuitively visualiz...

Knowledge of in situ stresses is fundamental to many studies in earth sciences, and coal mine ground control is no exception. During the past 20 years, it has become clear that horizontal stress is a critical factor affecting roof stability in underground coal mines. The theory of plate tectonics and the World Stress Map (WSM) project has been extremely helpful in explaining the sources and the...

Mapping specific landform entities in the past is mainly achieved by manually examining contour lines on topographic maps. Automated delimitation of specific landform from digital elevation data remains difficult in geomorphologic mapping. This paper presents a method to automatically identify five common surface features of karst landscapes: isolated karst hill or sinkhole, clustered karst hil...