Automatic 3D Underground Mine Mapping

Abstract

For several years, our research group has been developing methods for automated modeling of 3D environments. In September, 2002, we were given the opportunity to demonstrate our mapping capability in an underground coal mine. The opportunity arose as a result of the Quecreek mine accident, in which an inaccurate map caused miners to breach an abandoned, water-filled mine, trapping them for several days. Our field test illustrates the feasibility and potential of high resolution three-dimensional (3D) mapping of an underground coal mine using a cart-mounted 3D laser scanner. This paper presents our experimental setup, the automatic 3D modeling method used, and the results of the field test. In addition, we address issues related to laser sensing in a coal mine environment.