Title :
Towards autonomous mine inspection
Author :
Gohl, P. ; Burri, M. ; Omari, S. ; Rehder, J. ; Nikolic, J. ; Achtelik, M. ; Siegwart, R.
Author_Institution :
Skybotix AG, Zurich, Switzerland
Abstract :
The purpose of this paper is to evaluate the use of a micro aerial vehicle (MAV) for autonomous inspection and 3D reconstruction of underground mines. The goal is to manually fly an MAV equipped with cameras and a laser range sensor into a vertical shaft to collect data. This data can be used to evaluate the performance of the localization system as well as post processed to reconstruct a 3D model of the shaft. Due to its novelty of flying an MAV in a deep mine, we report gained experience of the effect of the hot, wet and dusty environment on the system as well as the influence of turbulences from vertical winds on the flight performance. Further we evaluated the quality of the recorded data and there applicability for a fully autonomous mine inspection system.
Keywords :
autonomous aerial vehicles; image reconstruction; image sensors; inspection; microrobots; mining; mobile robots; shafts; 3D reconstruction; MAV; autonomous mine inspection system; laser range sensor; microaerial vehicle; shaft model; underground mine; Cameras; Estimation; Image reconstruction; Shafts; Three-dimensional displays; Vehicles; Visualization;
Conference_Titel :
Applied Robotics for the Power Industry (CARPI), 2014 3rd International Conference on
Conference_Location :
Foz do Iguassu
Print_ISBN :
978-1-4799-6420-8
DOI :
10.1109/CARPI.2014.7030057
