A landmark-bounded method for large-scale underground mine mapping
Article first published online: 5 MAR 2012
Copyright © 2012 Wiley Periodicals, Inc.
Journal of Field Robotics
Volume 29, Issue 6, pages 861–879, November/December 2012
How to Cite
Lavigne, N. J. and Marshall, J. A. (2012), A landmark-bounded method for large-scale underground mine mapping. J. Field Robotics, 29: 861–879. doi: 10.1002/rob.21415
- Issue published online: 1 OCT 2012
- Article first published online: 5 MAR 2012
- Manuscript Accepted: 25 NOV 2011
- Manuscript Received: 14 DEC 2010
A practical localization technology for underground drift networks—such as those excavated in the practice of underground mining—has yet to become commercially available. This paper focuses on the problem of mapping GPS-deprived underground environments with the eventual goal of using these maps for navigation. Recent industry-directed work in the creation of a landmark-bounded occupancy grid mapping tool that combines odometry, scanning laser data, and sporadically placed passive RFID tags is described. Unlike other work, the suggested approach holds the philosophy that precise localization of the actual landmark locations is not necessary; rather, landmarks serve as a global means for partitioning the map. Successful field experiments were conducted in two underground environments, with the results used to conduct a basic analysis of the described method. © 2012 Wiley Periodicals, Inc.