A System for Continuous Underground Site Mapping and Exploration. Ferrein, A., Scholl, I., Neumann, T., Krückel, K., & Schiffer, S. In Reyhanoglu, M. & Cubber, G. D., editors, Aerial Robotic Systems [Working Title]. IntechOpen, May, 2019.
A System for Continuous Underground Site Mapping and Exploration [link]Paper  A System for Continuous Underground Site Mapping and Exploration [link]Intech  doi  abstract   bibtex   
3D mapping becomes ever more important not only in industrial mobile robotic applications for AGV and production vehicles but also for search and rescue scenarios. In this chapter we report on our work of mapping and exploring underground mines. Our contribution is two-fold: First, we present our custom-built 3D laser range platform SWAP and compare it against an architectural laser scanner. The advantages are that the mapping vehicle can scan in a continuous mode and does not have to do stop-and-go scanning. The second contribution is the mapping tool mapit which supports and automates the registration of large sets of point clouds. The idea behind mapit is to keep the raw point cloud data as a basis for any map generation and only store all operations executed on the point clouds. This way the initial data do not get lost, and improvements on low-level date (e.g. improved transforms through loop closure) will automatically improve the final maps. Finally, we also present methods for visualization and interactive exploration of such maps.
@incollection{Ferrein:EtAl:InTech2019:SCUSME,
  title        = {{A System for Continuous Underground Site Mapping and Exploration}},
  author       = {Ferrein, Alexander and Scholl, Ingrid and Neumann, Tobias and Kr{\"u}ckel, Kai and Schiffer, Stefan},
  booktitle    = {Aerial Robotic Systems [Working Title]},
  editor       = {Mahmut Reyhanoglu and Geert De Cubber},
  year         = {2019},
  month        = may,
  publisher    = {{IntechOpen}},
  doi          = {10.5772/intechopen.85859},
  url          = {https://doi.org/10.5772%2Fintechopen.85859},
  url_InTech   = {https://www.intechopen.com/online-first/a-system-for-continuous-underground-site-mapping-and-exploration},
  keywords     = {3D mapping, continuous mapping, large underground site mapping, mapping tools,
                  point cloud registration, map exploration, map visualization},
  abstract     = {3D mapping becomes ever more important not only in
                  industrial mobile robotic applications for AGV and
                  production vehicles but also for search and rescue
                  scenarios. In this chapter we report on our work of
                  mapping and exploring underground mines. Our
                  contribution is two-fold: First, we present our
                  custom-built 3D laser range platform SWAP and
                  compare it against an architectural laser
                  scanner. The advantages are that the mapping vehicle
                  can scan in a continuous mode and does not have to
                  do stop-and-go scanning. The second contribution is
                  the mapping tool mapit which supports and automates
                  the registration of large sets of point clouds. The
                  idea behind mapit is to keep the raw point cloud
                  data as a basis for any map generation and only
                  store all operations executed on the point
                  clouds. This way the initial data do not get lost,
                  and improvements on low-level date (e.g. improved
                  transforms through loop closure) will automatically
                  improve the final maps. Finally, we also present
                  methods for visualization and interactive
                  exploration of such maps.},
}

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