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3D Scan Matching for Mobile Robots with Application to Mine Mapping: Licentiate Thesis
Örebro University, Department of Technology. AASS. (Learning Systems Lab)ORCID iD: 0000-0001-8658-2985
2006 (English)Licentiate thesis, monograph (Other academic)
Abstract [en]

This thesis is concerned with three-dimensional scan registration, in particular of underground mine tunnels. Registration of partial range scans is an essential part of building 3D maps, and autonomous creation of reliable maps is a first step towards autonomous mining vehicles. The thesis presents a survey of relevant sensor technology and discusses the advantages and disadvantages of different sensors for use in mine environments. A survey of the state of the art in scan registration algorithms is also presented, as well as a number of relevant applications. A new algorithm for registration of 3D data is presented, which is a generalisation of the normal distributions transform (NDT) for 2D data developed by Biber and Straßer. A detailed quantitative and qualitative comparison of the new algorithm with existing registration algorithms is shown. Results with actual mine data, some of which were collected with a new prototype 3D laser scanner, show that the presented algorithm is faster and in many cases more accurate, compared with the current standard in 3D registration.

Place, publisher, year, edition, pages
Örebro University , 2006. , p. 105
Series
Studies from the Department of Technology at Örebro University 17, ISSN 1404-7225 ; 17
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:oru:diva-4125OAI: oai:DiVA.org:oru-4125DiVA, id: diva2:138424
Note
This thesis has investigated methods for registration of 3D range scans for volumetric profiling of an underground mine environment. A survey of relevant sensor technology and registration algorithms has also been presented. Mine mapping with a mobile robot comes with several challenges not encountered with indoor mapping. One main difficulty is that the floors are uneven, which leads to the need for scan registration with 3D translations and rotations. Long tunnel sections with very little prominent features are also commonly encountered, and such environments are very challenging to current registration algorithms. Furthermore, the scale of the environment is typically large: mine tunnels are commonly 10–50 m wide, and mines often cover several square kilometres.Available from: 2007-07-17 Created: 2007-07-17 Last updated: 2018-01-13

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Magnusson, Martin

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