Key technology of mine underground mobile positioning based on LiDAR and coded sequence pattern  

作　　者：WANG Zhi1, 2, WU Li-xin1, 2, LI Hui-ying3 1. College of Resources and Civil Engineering, Northeastern University, Shenyang 110004, China 2. Academy of Disaster Reduction and Emergency Management, Ministry of Civil Affairs and Ministry of Education, Beijing Normal University, Beijing 100875, China 3. College of Computer Science and Technology, Jilin University, Changchun 130012, China 

出　　处：《中国有色金属学会会刊：英文版》2011年第S3期570-576,共7页Transactions of Nonferrous Metals Society of China

基　　金：Project(2011CB707102)supported by the National Basic Research Program of China;Projects(40901220,41001302)supported by the National Natural Science Foundation of China;Project(122025)supported by Fok Ying Tong Education Foundation,China;Project(N100401009)supported by Fundamental Research Funds for Central Universities,China

摘　　要：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.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.

关 键 词：LIDAR CODED SEQUENCE pattern mobile POSITIONING SLAM ALGORITHM POSIT ALGORITHM 

分 类 号：TD76[矿业工程—矿井通风与安全]