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3D Scan Matching for Mobile Robots with Application to Mine Mapping (2006)
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BibTeX
@MISC{Magnusson063dscan,
author = {Martin Magnusson},
title = { 3D Scan Matching for Mobile Robots with Application to Mine Mapping},
year = {2006}
}
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Abstract
This thesis is concerned with three-dimensional scan registration, in particular of underground mine tunnels. Registration of partial range scans is an essential part of building 3D maps, and autonomous creation of reliable maps is a first step towards autonomous mining vehicles. The thesis presents a survey of relevant sensor technology and discusses the advantages and disadvantages of different sensors for use in mine environments. A survey of the state of the art in scan registration algorithms is also presented, as well as a number of relevant applications. A new algorithm for registration of 3D data is presented, which is a generalisation of the normal distributions transform (NDT) for 2D data developed by Biber and Straßer. A detailed quantitative and qualitative comparison of the new algorithm with existing registration algorithms is shown. Results with actual mine data, some of which were collected with a new prototype 3D laser scanner, show that the presented algorithm is faster and in many cases more
Keyphrases
mobile robot mine mapping scan matching new algorithm registration algorithm normal distribution transform three-dimensional scan registration autonomous creation many case relevant application qualitative comparison different sensor new prototype laser scanner partial range scan detailed quantitative autonomous mining vehicle mine environment presented algorithm scan registration algorithm actual mine data essential part reliable map underground mine tunnel first step stra er relevant sensor technology
