Advancements in underground mine surveys by using SLAM-enabled handheld laser scanners

Ellmann, Artu; Kütimets, Kaia; Varbla, Sander; Väli, Erik; Kanter, Sander

doi:10.1080/00396265.2021.1944545

Cited by 9 publications

(3 citation statements)

References 11 publications

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“…In addition, the applicability of real-time 3D SLAM based on normally distributed transform (NDT) and pose-graph optimization for complex underground space scenarios after disasters was examined in [ 24 ]. A broad assessment of handheld laser scanners for mine surveys and the validation of results with terrestrial laser scanners for reference data are presented in [ 25 ]. A summary of successful SLAM approaches for surveying underground environments, based on experiences from the DARPA Subterranean Challenge, is presented in [ 26 ].…”

Section: Methodsmentioning

confidence: 99%

Analysis of Lidar Actuator System Influence on the Quality of Dense 3D Point Cloud Obtained with SLAM

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Dębogórski

et al. 2023

Sensors

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Mobile mapping technologies, based on techniques such as simultaneous localization and mapping (SLAM) and surface-from-motion (SfM), are being vigorously developed both in the scientific community and in industry. They are crucial concepts for automated 3D surveying and autonomous vehicles. For various applications, rotating multiline scanners, manufactured, for example, by Velodyne and Ouster, are utilized as the main sensor of the mapping hardware system. However, their principle of operation has a substantial drawback, as their scanning pattern creates natural gaps between the scanning lines. In some models, the vertical lidar field of view can also be severely limited. To overcome these issues, more sensors could be employed, which would significantly increase the cost of the mapping system. Instead, some investigators have added a tilting or rotating motor to the lidar. Although the effectiveness of such a solution is usually clearly visible, its impact on the quality of the acquired 3D data has not yet been investigated. This paper presents an adjustable mapping system, which allows for switching between a stable, tilting or fully rotating lidar position. A simple experiment in a building corridor was performed, simulating the conditions of a mobile robot passing through a narrow tunnel: a common setting for applications, such as mining surveying or industrial facility inspection. A SLAM algorithm is utilized to create a coherent 3D point cloud of the mapped corridor for three settings of the sensor movement. The extent of improvement in the 3D data quality when using the tilting and rotating lidar, compared to keeping a stable position, is quantified. Different metrics are proposed to account for different aspects of the 3D data quality, such as completeness, density and geometry coherence. The ability of SLAM algorithms to faithfully represent selected objects appearing in the mapped scene is also examined. The results show that the fully rotating solution is optimal in terms of most of the metrics analyzed. However, the improvement observed from a horizontally mounted sensor to a tilting sensor was the most significant.

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Section: Methodsmentioning

confidence: 99%

Analysis of Lidar Actuator System Influence on the Quality of Dense 3D Point Cloud Obtained with SLAM

Trybała

Szrek

Dębogórski

et al. 2023

Sensors

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“…For these reasons, the research community has recently focused on testing more agile and faster solutions for accurately and entirely documenting these structures with less effort [36]. In the last years, some portable Mobile Mapping Systems (MMS) [35] have been tested in underground environments [2,[37][38][39][40][41][42], with promising results in speeding up documentation in these particular contexts.…”

Section: D Digitization Of Underground Built Heritagementioning

confidence: 99%

3D Surveying of Underground Built Heritage: Opportunities and Challenges of Mobile Technologies

et al. 2021

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Among the existing Cultural Heritage settings, Underground Built Heritage (UBH) represents a peculiar case. The scarce or lack of knowledge and documentation of these spaces frequently limits their proper management, exploitation, and valorization. When mapping these environments for documentation purposes, the primary need is to achieve a complete, reliable, and adequate representation of the built spaces and their geometry. Terrestrial laser scanners were widely employed for this task, although the procedure is generally time-consuming and often lacks color information. Mobile Mapping Systems (MMSs) are nowadays fascinating and promising technologies for mapping underground structures, speeding up acquisition times. In this paper, mapping experiences (with two commercial tools and an in-house prototype) in UBH settings are presented, testing the different handheld mobile solutions to guarantee an accurate and reliable 3D digitization. Tests were performed in the selected case study of Camerano Caves (Italy), characterized by volumetric complexity, poor lighting conditions, and difficult accessibility. The aim of this research activity is not only to show the differences in the technological instruments used for 3D surveying, but rather to argue over the pros and cons of the systems, providing the community with best practices and rules for 3D data collection with handheld mobile systems. The experiments deliver promising results when compared with TLS data.

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“…Recently, mobile devices and Simultaneous Location and Mapping (SLAM) technologies have been introduced as efficient alternatives for generating precise 3D maps in GPSdenied environments (Ellmann et al 2021;Ouyang et al 2020;Jones et al 2019;Chen et al Shamseldin et al Shi et al 2018;Niu et al Ghosh et al Lynch et al 2017;Ma et al 2016;Tang et al Zlot and Bosse, Wang et al 2014;Keller and Sternberg, D'Alfonso et al 2013;Artan et al 2012). Their purpose is to concurrently calculate robot locations and map the surrounded environment, and they are used in various underground mapping applications in environments such as buildings, caves, tunnels, stopes, etc.…”

Section: Introductionmentioning

confidence: 99%

Precise indoor localization and mapping using mobile laser scanners: a scoping review

et al. 2021

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Indoor localization and mapping are essential for a wide range of applications. The absence of GPS signals in indoor environments such as buildings, caves, and tunnels brings significant challenges for applications where accurate positioning (i.e., centimeter-level accuracy) is required. This paper presents a scoping review of the most recent studies on precise indoor localization and mapping using mobile technologies, specifically, mobile laser scanners. The scoping review allows for a comprehensive and structured review of the literature to maximize the capture of relevant information and provide reproducible results. We extracted and reported a range of information from the selected articles published since 2009, with the goal of identifying the most frequently used sensors and methods of fusing their collected observations. The results show that in the majority of studies, LiDAR is the core sensor and IMUs with 75% and odometers with 67% magnitude are the main sensors integrated with the LiDAR system to enhance the localization precision. In addition, the classical iterative closest point (ICP) algorithm with approximately 60% frequency and the extended Kalman filter (EKF) method with over 40% frequency are the main algorithms used for the scan matching and fusion of different sensor data, respectively. This scoping review also revealed the lack of mapping-systems calibration as the main limitation in over 70% of the papers analyzed.

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Advancements in underground mine surveys by using SLAM-enabled handheld laser scanners

Cited by 9 publications

References 11 publications

Analysis of Lidar Actuator System Influence on the Quality of Dense 3D Point Cloud Obtained with SLAM

Analysis of Lidar Actuator System Influence on the Quality of Dense 3D Point Cloud Obtained with SLAM

3D Surveying of Underground Built Heritage: Opportunities and Challenges of Mobile Technologies

Precise indoor localization and mapping using mobile laser scanners: a scoping review

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