露天掘り鉱山の自律遠隔センシングのための表面適応型初回検査プランナ
A Surface Adaptive First-Look Inspection Planner for Autonomous Remote Sensing of Open-Pit Mines
露天掘り鉱山において、オペレータが定義した初期検査計画をオンラインの視点プランナが活用し、採掘活動による鉱山表面の形状変化に適応した検査経路を生成する自律検査フレームワークを提案した。
著者: Vignesh Kottayam Viswanathan, Vidya Sumathy, Christoforos Kanellakis, George Nikolakopoulos
分類: cs.RO
原文アブストラクト
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
