Document detail
ID
oai:arXiv.org:2410.10256
Topic
Computer Science - RoboticsAuthor
Viswanathan, Vignesh Kottayam Sumathy, Vidya Kanellakis, Christoforos Nikolakopoulos, GeorgeCategory
Computer Science
Year
2024
listing date
10/16/2024
Keywords
open-pit proposed inspectionAbstract
In this work, we present an autonomous inspection framework for remote sensing tasks in active open-pit mines.
Specifically, the contributions are focused towards developing a methodology where an initial approximate operator-defined inspection plan is exploited by an online view-planner to predict an inspection path that can adapt to changes in the current mine-face morphology caused by route mining activities.
The proposed inspection framework leverages instantaneous 3D LiDAR and localization measurements coupled with modelled sensor footprint for view-planning satisfying desired viewing and photogrammetric conditions.
The efficacy of the proposed framework has been demonstrated through simulation in Feiring-Bruk open-pit mine environment and hardware-based outdoor experimental trials.
The video showcasing the performance of the proposed work can be found here: https://youtu.be/uWWbDfoBvFc ;Comment: Accepted for publication in IEEE ROBIO 2024
Viswanathan, Vignesh Kottayam,Sumathy, Vidya,Kanellakis, Christoforos,Nikolakopoulos, George, 2024, A Surface Adaptive First-Look Inspection Planner for Autonomous Remote Sensing of Open-Pit Mines
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