Comparative evaluation of range sensing technologies for underground void modeling

This paper compares a broad cross-section of range sensing technologies for underground void modeling. In this family of applications, a tunnel environment is incrementally mapped with range sensors from a mobile robot to recover scene geometry. Distinguishing contributions of this work include an unprecedented number of configurations evaluated utilizing common methodology and metrics as well as a significant in situ environmental component lacking in prior characterization work. Sensors are experimentally compared against both an ideal geometric target and in example void environments such as a mine and underground tunnel. Three natural groupings of sensors were identified from these results and performances were found to be strongly cost-correlated. While the results presented are specific to the experimental configurations tested, the generality of tunnel environments and the metrics of reconstruction are extensible to a spectrum of outdoor and surface applications.