Technologies of underground mobile positioning were proposed based on LiDAR data and coded sequence pattern landmarks for mine shafts and tunnels environment to meet the needs of fast and accurate positioning and navigation of equipments in the mine underground without satellite navigation signals. A coded sequence pattern was employed for automatic matching of 3D scans. The methods of SIFT feature, Otsu segmentation and fast hough transformation were described for the identification, positioning and interpretation of the coded sequence patterns, respectively. The POSIT model was presented for speeding up computation of the translation and rotation parameters of LiDAR point data, so as to achieve automatic 3D mapping of mine shafts and tunnels. The moving positioning experiment was applied to evaluating the accuracy of proposed pose estimation method from LiDAR scans and coded sequence pattern landmarks acquired in an indoor environment. The performance was evaluated using ground truth data of the indoor setting so as to measure derivations with six degrees of freedom.
WANG Zhi1, 2, WU Li-xin1, 2, LI Hui-ying3 1. College of Resources and Civil Engineering, Northeastern University, Shenyang 110004, China
The fast high-efficiency inspection for mining subsidence of mine area is a reliable way for forecasting accident and evaluating losing expense. In order to monitor mining subsidence of exploitation mine efficiently, LiDAR data were used and a novel strip division method was brought forward based on separating-treatment theory, which divided the mass of discrete three-dimensional point cloud data into a series of parallel strips and reduced the dimension in each strip. Polynomial fitting algorithm based on the adaptive weights, which located in the range of the strip, was used for classification complex terrain data of mine-area. The results show that LiDAR datamation can be greatly reduced. In the mean time, the time spending for calculation is shortened, and computational complexity is simplified. Therefore, high-efficiency terrain classification of LiDAR point cloud method can be great beneficial to monitoring environment of mine area.
LI Hui-ying1, WANG Zhi2, SUN Ya-feng1, LI Wen-hui1 1. College of Computer Science and Technology, Jilin University, Changchun 130012, China
