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
fDate :
28 Sept.-2 Oct. 2004
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;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389446
