Analysis of SLAM-Based Lidar Data Quality Metrics for Geotechnical Underground Monitoring

Fahle, Lukas; Holley, Elizabeth; Walton, Gabriel; Petruska, Andrew J.; Brune, Jürgen F.

doi:10.1007/s42461-022-00664-3

Cited by 7 publications

(6 citation statements)

References 71 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The investigation described in [ 22 ] demonstrated a SLAM solution capable of accurately mapping underground mines at kilometer scales, using a spinning 2D-laser scanner and an industrial-grade inertial measurement unit mounted on a light vehicle. Finally, reference [ 23 ] analyzed the quality of SLAM-based mobile laser scanner (MLS) data for the accurate and efficient geotechnical monitoring of the underground mine environment. 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 ].…”

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

View full text Add to dashboard Cite

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.

show abstract

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

View full text Add to dashboard Cite

show abstract

“…This method used the structured data provided by rotating LiDARs. Authors of [29] generated results proved that LiDAR system is significantly more efficient for underground environment when compared to classical systems. The work presented in [30] involves an improvement of LeGO-LOAM by using SegMatch the results showed better accuracy in loopback detection.…”

Section: Cmes 2023 2 Related Workmentioning

confidence: 99%

“…Provide a 3D map representation. [27] Team of autonomous robots Provide a 3D map and SLAM [28] Rotating LiDAR Display 3D ego-motion [29] LiDAR and mobile laser Test mobile laser scanning [30] LiDAR Provide a 3D map and SLAM [31] LiDAR Geomechanically modelling for underground cavities [32] LiDAR Exploring the tunnel wall [33] LiDAR, inertial measurement unit, and encoders…”

Section: Workmentioning

confidence: 99%

A Systematic Approach for Exploring Underground Environment Using LiDAR-Based System

Alhmiedat¹,

Marei²,

Albelwi³

et al. 2023

Computer Modeling in Engineering &Amp; Sciences

View full text Add to dashboard Cite

Agricultural projects in different parts of the world depend on underground water wells. Recently, there have been many unfortunate incidents in which children have died in abandoned underground wells. Providing topographical information for these wells is a prerequisite to protecting people from the dangers of falling into them, especially since most of these wells become buried over time. Many solutions have been developed recently, most with the aim of exploring these well areas. However, these systems suffer from several limitations, including high complexity, large size, or inefficiency. This paper focuses on the development of a smart exploration unit that is able to investigate underground well areas, build a 3D map, search for persons and animals, and determine the levels of oxygen and other gases. The exploration unit has been implemented and validated through several experiments using various experiment testbeds. The results proved the efficiency of the developed exploration unit, in terms of 3D modeling, searching, communication, and measuring the level of oxygen. The average accuracy of the 3D modeling function is approximately 95.5%. A benchmark has been presented for comparing our results with related works, and the comparison has proven the contributions and novelty of the proposed system's results.

show abstract

“…As an alternative, lidar-based Simultaneous Localization and Mapping (SLAM) Mobile Laser Scanning Systems (MLS) can enable frequent, large-scale geotechnical monitoring due to significantly higher data acquisition efficiency than traditional inspections [15][16][17][18][19][20]. MLS can also offer safety benefits by removing operators from hazardous areas, as they can be integrated into autonomous robotic platforms such as quadruped robots or mining equipment [21]. Fahle et al [22] showed that multi-epoch MLS data could detect geotechnical hazards while achieving data quality with uncertainty on the millimeter-to-centimeter level.…”

Section: Introductionmentioning

confidence: 99%

“…MLS can also offer safety benefits by removing operators from hazardous areas, as they can be integrated into autonomous robotic platforms such as quadruped robots or mining equipment [21]. Fahle et al [22] showed that multi-epoch MLS data could detect geotechnical hazards while achieving data quality with uncertainty on the millimeter-to-centimeter level. MLS in underground mines has potential beyond geotechnical monitoring applications, including mapping and monitoring ground support performance [23], mine ventilation surveying [24], rock fragmentation analysis [25], and the control of autonomous vehicle applications [26].…”

Section: Introductionmentioning

confidence: 99%

Development and Testing of Octree-Based Intra-Voxel Statistical Inference to Enable Real-Time Geotechnical Monitoring of Large-Scale Underground Spaces with Mobile Laser Scanning Data

et al. 2023

View full text Add to dashboard Cite

Convergence and rockmass failure are significant hazards to personnel and physical assets in underground tunnels, caverns, and mines. Mobile Laser Scanning Systems (MLS) can deliver large volumes of point cloud data at a high frequency and on a large scale. However, current change detection approaches do not deliver sufficient sensitivity and precision for real-time performance on large-scale datasets. We present a novel, octree-based computational framework for intra-voxel statistical inference change detection and deformation analysis. Our approach exploits high-density MLS data to test for statistical significance for appearing objects caused by rockfall and for low-magnitude deformations, such as convergence. In field tests, our method detects rock falls with side lengths as small as 0.03 m and convergence as low as 0.01 m, or 0.5% wall-to-wall strain. When compared against a state-of-the-art multi-scale model-to-model cloud comparison (M3C2)-based method, ours is less sensitive to noisy data and parameter selection while also requiring fewer parameters. Most notably, our method is the only one tested that can perform real-time change detection on large-scale datasets on a single processor thread. Our method achieves a computational improvement of 50 times over single-threaded M3C2 while maintaining a performance scalability that is four times greater with dataset size. Our framework shows significant potential to enable accurate real-time geotechnical monitoring of large-scale underground spaces.

show abstract

Analysis of SLAM-Based Lidar Data Quality Metrics for Geotechnical Underground Monitoring

Cited by 7 publications

References 71 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

A Systematic Approach for Exploring Underground Environment Using LiDAR-Based System

Development and Testing of Octree-Based Intra-Voxel Statistical Inference to Enable Real-Time Geotechnical Monitoring of Large-Scale Underground Spaces with Mobile Laser Scanning Data

Contact Info

Product

Resources

About