DocumentCode
426062
Title
Feature extraction for topological mine maps
Author
Silver, David ; Ferguson, Dave ; Morris, Art ; Thayer, Scott
Author_Institution
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume
1
fYear
2004
fDate
28 Sept.-2 Oct. 2004
Firstpage
773
Abstract
We present a robust method for detecting and recognizing topological features in underground mines. Our method involves performing Delaunay triangulations on range scans to extract points of interest, such as intersecting corridors. By combining these interest points into a topological map, we have a valuable tool for navigation and localization in large scale, highly cyclic environments. We present results from a research coal mine near Pittsburgh, PA.
Keywords
computerised navigation; feature extraction; mesh generation; mining; mobile robots; topology; Delaunay triangulations; Pittsburgh, Pennsylvania; coal mine; feature extraction; intersecting corridors; topological mine maps; underground mines; Ecosystems; Error correction; Feature extraction; Large-scale systems; Mobile robots; Navigation; Robot sensing systems; Robustness; Silver; Surface structures;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8463-6
Type
conf
DOI
10.1109/IROS.2004.1389446
Filename
1389446
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