D. Feruson, A. Morris, D. Hähnel, C. Baker, Z. Omohundro, C. Reverte, S. Thayer, W. Whittaker, W. Whittaker, W. Burgard, S. Thrun

An Autonomous Robotic System for Mapping Abandoned Mines

In Proc. of the Conference on Neural Information Processing (NIPS), 2003.






Abstract:

We present the software architecture of a robotic system for mapping abandoned mines. The software is capable of acquiring consistent 2D maps of large mines with many cycles, represented as Markov random fields. 3D C-space maps are acquired from local 3D range scans, which are used to identify navigable paths using A* search. Our system has been deployed in three abandoned mines, two of which inaccessible to people, where it has acquired maps of unprecedented detail and accuracy.


Bibtex:

@InProceedings{ferguson03nips,
  author    = {Feruson, D. and Morris, A. and Hähnel, D. and Baker,
  C. and Omohundro, Z. and Reverte, C. and Thayer, S. and Whittaker,
  W. and Whittaker, W. and Burgard, W. and Thrun S.},
  title     = {An Autonomous Robotic System for Mapping Abandoned Mines},
  booktitle = {Proc.~of the Conference on Neural Information Processing (NIPS)},
  year      = {2003}
}



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