@inproceedings{RTM2017,
  abstract = {The project Viable Alternative Mine Operating System
                  (\textexclamdown VAMOS!) develops a new safe, clean
                  and low visibility mining technique for excavating
                  raw materials from submerged inland mines. During
                  operations, the perception data of the mining
                  vehicle can only be communicated to the operator via
                  a computer interface. In order to assist remote
                  control and facilitate assessing risks a detailed
                  view of the mining process below the water surface
                  is necessary. This paper presents approaches to
                  real-time 3D reconstruction of the mining
                  environment for immersive data visualisation in a
                  virtual reality environment to provide advanced
                  spatial awareness. From the raw survey data a more
                  consistent 3D model is created using post-processing
                  techniques based on a continuous-time simultaneous
                  localization and mapping (SLAM) solution. Signed
                  distance function (SDF) based mapping is employed to
                  fuse the measurements from multiple views into a
                  single representation and reduce sensor noise.
                  Results of the proposed techniques are demonstrated
                  on a dataset captured in an sub- merged inland
                  mine.},
  added-at = {2017-11-08T15:05:44.000+0100},
  address = {Amsterdam, The Netherlands},
  author = {Bleier, M. and Dias, A. and Ferreira, A. and Pidgeon, J. and Almeida, J. and Silva, E. and Schilling, K. and N{\"u}chter, A.},
  biburl = {https://www.bibsonomy.org/bibtex/2b585b2baf5fa40bc17814198cbc47ffe/nuechter76},
  booktitle = {Real Time Mining},
  editor = {Buxton, M. and Benndorf, J.},
  interhash = {84fcc33c5f620ef3f45021ae3c7deae7},
  intrahash = {b585b2baf5fa40bc17814198cbc47ffe},
  keywords = {imported},
  month = {October},
  pages = {91--102},
  publisher = {Technische Universität Bergakademie Freiberg, Institut für Markscheidewesen und Geodäsie},
  timestamp = {2018-05-31T19:49:19.000+0200},
  title = {{Real-time 3D Mine Modelling in the !VAMOS! Project}},
  url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/rtm2017.pdf},
  year = 2017
}

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This paper presents approaches to real-time 3D reconstruction of the mining environment for immersive data visualisation in a virtual reality environment to provide advanced spatial awareness. From the raw survey data a more consistent 3D model is created using post-processing techniques based on a continuous-time simultaneous localization and mapping (SLAM) solution. Signed distance function (SDF) based mapping is employed to fuse the measurements from multiple views into a single representation and reduce sensor noise. 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From the raw survey data a more\r\n consistent 3D model is created using post-processing\r\n techniques based on a continuous-time simultaneous\r\n localization and mapping (SLAM) solution. Signed\r\n distance function (SDF) based mapping is employed to\r\n fuse the measurements from multiple views into a\r\n single representation and reduce sensor noise.\r\n Results of the proposed techniques are demonstrated\r\n on a dataset captured in an sub- merged inland\r\n mine.},\n added-at = {2017-11-08T15:05:44.000+0100},\n address = {Amsterdam, The Netherlands},\n author = {Bleier, M. and Dias, A. and Ferreira, A. and Pidgeon, J. and Almeida, J. and Silva, E. and Schilling, K. and N{\\\"u}chter, A.},\n biburl = {https://www.bibsonomy.org/bibtex/2b585b2baf5fa40bc17814198cbc47ffe/nuechter76},\n booktitle = {Real Time Mining},\n editor = {Buxton, M. and Benndorf, J.},\n interhash = {84fcc33c5f620ef3f45021ae3c7deae7},\n intrahash = {b585b2baf5fa40bc17814198cbc47ffe},\n keywords = {imported},\n month = {October},\n pages = {91--102},\n publisher = {Technische Universität Bergakademie Freiberg, Institut für Markscheidewesen und Geodäsie},\n timestamp = {2018-05-31T19:49:19.000+0200},\n title = {{Real-time 3D Mine Modelling in the !VAMOS! 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