Abstract-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 correspondences and aligning robot paths. This algorithm enables us to recover consistent maps several hundreds of meters in diameter, without odometric information. We report results obtained in two mines, a research mine in Bruceton, PA, and an abandoned coal mine in Burgettstown, PA.in Proceedings of ICRA-2003
Abandoned mines pose significant threats to society, yet a large fraction of them lack accurate maps. This article discusses the software architecture of an autonomous robotic system designed to explore and map abandoned mines. We have built a robot capable of autonomously exploring abandoned mines. A new set of software tools is presented, enabling robots to acquire maps of unprecedented size and accuracy. On May 30, 2003, our robot "Groundhog" successfully explored and mapped a main corridor of the abandoned Mathies mine near Courtney, PA. The article also discusses some of the challenges that arise in the subterraneans environments, and some the difficulties of building truly autonomous robots.
Robotic systems exhibit remarkable capability for exploring and mapping subterranean voids. Information about subterranean spaces has immense value for civil, security, and commercial applications where problems, such as encroachment, collapse, flooding and subsidence can occur. Contemporary method for underground mapping, such as human surveys and geophysical techniques, can provide estimates of void location, but cannot achieve the coverage, quality, or economy of robotic approaches. This article presents the challenges, mechanisms, sensing, and software of subterranean robots. Results obtained from operations in active, abandoned, and submerged subterranean spaces will also be shown.
Consumer time-of-flight depth cameras like Kinect and PMD are cheap, compact and produce video-rate depth maps in short-range applications. In this paper we apply energy-efficient epipolar imaging to the ToF domain to significantly expand the versatility of these sensors: we demonstrate live 3D imaging at over 15 m range outdoors in bright sunlight; robustness to global transport effects such as specular and diffuse inter-reflections---the first live demonstration for this ToF technology; interference-free 3D imaging in the presence of many ToF sensors, even when they are all operating at the same optical wavelength and modulation frequency; and blur-free, distortion-free 3D video in the presence of severe camera shake. We believe these achievements can make such cheap ToF devices broadly applicable in consumer and robotics domains.
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