Evaluation of Visual Localization Systems in Underground Mining
In this article an evaluation of the current technology on visual localization systems for underground mining is presented. The proposed study is considered to be the first step among others towards enabling the vision of underground localization for Unmanned Micro Aerial Vehicles. Furthermore, the...
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Luleå tekniska universitet, Signaler och system
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ftluleatu:oai:DiVA.org:ltu-35033 2023-05-15T17:04:14+02:00 Evaluation of Visual Localization Systems in Underground Mining Kanellakis, Christoforos Nikolakopoulos, George 2016 application/pdf http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-35033 https://doi.org/10.1109/MED.2016.7535853 eng eng Luleå tekniska universitet, Signaler och system Piscataway, NJ Mediterranean Conference on Control and Automation 24th Mediterranean Conference on Control and Automation (MED) : June 21-24, Athens, Greece, 2016, p. 539-544 orcid:0000-0001-8870-6718 orcid:0000-0003-0126-1897 http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-35033 urn:isbn:978-1-4673-8345-5 doi:10.1109/MED.2016.7535853 ISI:000391154900090 Scopus 2-s2.0-84986238187 Local 966e0ac9-f78a-4222-bd15-8271662d2c2f info:eu-repo/semantics/openAccess Control Engineering Reglerteknik Conference paper info:eu-repo/semantics/conferenceObject text 2016 ftluleatu https://doi.org/10.1109/MED.2016.7535853 2022-10-25T20:58:59Z In this article an evaluation of the current technology on visual localization systems for underground mining is presented. The proposed study is considered to be the first step among others towards enabling the vision of underground localization for Unmanned Micro Aerial Vehicles. Furthermore, the aim of this article, is to verify applicable and reliable low cost existing methods and technologies for the problem of UAV localization in underground, harsh mining environments and more specifically in one of the biggest mines in Europe, the iron ore mine of LKAB in Kiruna, Sweden. In the experimental trials, the sensors employed were a RGB-D camera, a Kinect 2 and a Playstation 3 Eye web camera used in two configurations, as a stereo rig and as a monocular visual sensor. The processing of the stored data from the experiments will provide an insight for the applicability of these sensors, while it will identify what further technological and research developments are required in order to develop affordable autonomous UAV solutions for improving the underground mining production processes. Godkänd; 2016; 20160419 (geonik) Collaborative Aerial Robotic Workers, AEROWORKS Conference Object Kiruna Luleå University of Technology Publications (DiVA) Kiruna 2016 24th Mediterranean Conference on Control and Automation (MED) 539 544 |
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Luleå University of Technology Publications (DiVA) |
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English |
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Control Engineering Reglerteknik |
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Control Engineering Reglerteknik Kanellakis, Christoforos Nikolakopoulos, George Evaluation of Visual Localization Systems in Underground Mining |
topic_facet |
Control Engineering Reglerteknik |
description |
In this article an evaluation of the current technology on visual localization systems for underground mining is presented. The proposed study is considered to be the first step among others towards enabling the vision of underground localization for Unmanned Micro Aerial Vehicles. Furthermore, the aim of this article, is to verify applicable and reliable low cost existing methods and technologies for the problem of UAV localization in underground, harsh mining environments and more specifically in one of the biggest mines in Europe, the iron ore mine of LKAB in Kiruna, Sweden. In the experimental trials, the sensors employed were a RGB-D camera, a Kinect 2 and a Playstation 3 Eye web camera used in two configurations, as a stereo rig and as a monocular visual sensor. The processing of the stored data from the experiments will provide an insight for the applicability of these sensors, while it will identify what further technological and research developments are required in order to develop affordable autonomous UAV solutions for improving the underground mining production processes. Godkänd; 2016; 20160419 (geonik) Collaborative Aerial Robotic Workers, AEROWORKS |
format |
Conference Object |
author |
Kanellakis, Christoforos Nikolakopoulos, George |
author_facet |
Kanellakis, Christoforos Nikolakopoulos, George |
author_sort |
Kanellakis, Christoforos |
title |
Evaluation of Visual Localization Systems in Underground Mining |
title_short |
Evaluation of Visual Localization Systems in Underground Mining |
title_full |
Evaluation of Visual Localization Systems in Underground Mining |
title_fullStr |
Evaluation of Visual Localization Systems in Underground Mining |
title_full_unstemmed |
Evaluation of Visual Localization Systems in Underground Mining |
title_sort |
evaluation of visual localization systems in underground mining |
publisher |
Luleå tekniska universitet, Signaler och system |
publishDate |
2016 |
url |
http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-35033 https://doi.org/10.1109/MED.2016.7535853 |
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Kiruna |
geographic_facet |
Kiruna |
genre |
Kiruna |
genre_facet |
Kiruna |
op_relation |
Mediterranean Conference on Control and Automation 24th Mediterranean Conference on Control and Automation (MED) : June 21-24, Athens, Greece, 2016, p. 539-544 orcid:0000-0001-8870-6718 orcid:0000-0003-0126-1897 http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-35033 urn:isbn:978-1-4673-8345-5 doi:10.1109/MED.2016.7535853 ISI:000391154900090 Scopus 2-s2.0-84986238187 Local 966e0ac9-f78a-4222-bd15-8271662d2c2f |
op_rights |
info:eu-repo/semantics/openAccess |
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https://doi.org/10.1109/MED.2016.7535853 |
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2016 24th Mediterranean Conference on Control and Automation (MED) |
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539 |
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544 |
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