%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 }