A Surface Adaptive First-Look Inspection Planner for Autonomous Remote Sensing of Open-Pit Mines
| Autor: | Viswanathan, Vignesh Kottayam, Sumathy, Vidya, Kanellakis, Christoforos, Nikolakopoulos, George |
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| Rok vydání: | 2024 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | 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 |
| Databáze: | arXiv |
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