Towards underground mine drift mapping with RFID

Despite a proliferation of research in the area of mapping in the mobile robotics community, the practical realization of a truly useful and low-cost mapping technology for drift networks in underground mining has yet to become available. To this end, this paper presents recent industry-directed work in the development of a globally consistent occupancy grid mapping tool that combines odometry, scanning laser data, and sporadically placed RFID beacons (common in mining). In contrast to other related works, the suggested approach takes the philosophy that localization of the actual tag locations is not necessary. Results from preliminary field trials conducted in an underground network, using a modified service vehicle, demonstrate the potential for reliable mapping by including only a few fixed beacons in unknown locations.