The planning of mining operations in water filled
open-pit mines requires detailed bathymetry to
create a mine plan and assess the involved
risks. This paper presents post- processing
techniques for creating an improved 3D model from a
survey carried out using an autonomous surface
vehicle with a multibeam sonar and a GPS/INS
navigation system. Inconsistencies of the created
point cloud as a result of calibration errors or GPS
signal loss are corrected using a continuous-time
simultaneous localization and mapping (SLAM)
solution. Signed distance function based mapping is
employed to fuse the measurements from multiple runs
into a consistent representation and reduce sensor
noise. From the signed distance function model we
reconstruct a 3D surface mesh. We use this terrain
model to establish a virtual reality scene for
immersive data visualization of the mining
operations for testing and planing during
development. Results of the proposed approach are
demonstrated on a dataset captured in an abandoned
submerged inland mine.
%0 Conference Paper
%1 WC2017_1
%A Bleier, M.
%A Dias, A.
%A Ferreira, A.
%A Pidgeon, J.
%A Almeida, J. M.
%A Silva, E.
%A Schilling, K.
%A Nüchter, A.
%B Proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC WC '17)
%C Toulouse, France
%D 2017
%K imported myown
%R 10.1016/j.ifacol.2017.08.397
%T Signed Distance Function Based Surface
Reconstruction of a Submerged Inland Mine Using
Continuous-Time SLAM
%U https://robotik.informatik.uni-wuerzburg.de/telematics/download/iwc2017.pdf
%X The planning of mining operations in water filled
open-pit mines requires detailed bathymetry to
create a mine plan and assess the involved
risks. This paper presents post- processing
techniques for creating an improved 3D model from a
survey carried out using an autonomous surface
vehicle with a multibeam sonar and a GPS/INS
navigation system. Inconsistencies of the created
point cloud as a result of calibration errors or GPS
signal loss are corrected using a continuous-time
simultaneous localization and mapping (SLAM)
solution. Signed distance function based mapping is
employed to fuse the measurements from multiple runs
into a consistent representation and reduce sensor
noise. From the signed distance function model we
reconstruct a 3D surface mesh. We use this terrain
model to establish a virtual reality scene for
immersive data visualization of the mining
operations for testing and planing during
development. Results of the proposed approach are
demonstrated on a dataset captured in an abandoned
submerged inland mine.
@inproceedings{WC2017_1,
abstract = {The planning of mining operations in water filled
open-pit mines requires detailed bathymetry to
create a mine plan and assess the involved
risks. This paper presents post- processing
techniques for creating an improved 3D model from a
survey carried out using an autonomous surface
vehicle with a multibeam sonar and a GPS/INS
navigation system. Inconsistencies of the created
point cloud as a result of calibration errors or GPS
signal loss are corrected using a continuous-time
simultaneous localization and mapping (SLAM)
solution. Signed distance function based mapping is
employed to fuse the measurements from multiple runs
into a consistent representation and reduce sensor
noise. From the signed distance function model we
reconstruct a 3D surface mesh. We use this terrain
model to establish a virtual reality scene for
immersive data visualization of the mining
operations for testing and planing during
development. Results of the proposed approach are
demonstrated on a dataset captured in an abandoned
submerged inland mine.},
added-at = {2017-09-19T13:40:53.000+0200},
address = {Toulouse, France},
author = {Bleier, M. and Dias, A. and Ferreira, A. and Pidgeon, J. and Almeida, J. M. and Silva, E. and Schilling, K. and N{\"u}chter, A.},
biburl = {https://www.bibsonomy.org/bibtex/2f2980057f32ea89a33bec0a7b21d0d74/nuechter76},
booktitle = {Proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC WC '17)},
doi = {10.1016/j.ifacol.2017.08.397},
interhash = {cb3d023bfefd5df92a4a7fd82f20e620},
intrahash = {f2980057f32ea89a33bec0a7b21d0d74},
keywords = {imported myown},
month = {July},
timestamp = {2024-07-30T17:39:05.000+0200},
title = {{Signed Distance Function Based Surface
Reconstruction of a Submerged Inland Mine Using
Continuous-Time SLAM}},
url = {https://robotik.informatik.uni-wuerzburg.de/telematics/download/iwc2017.pdf},
year = 2017
}