DocumentCode :
2551647
Title :
Comparative evaluation of range sensing technologies for underground void modeling
Author :
Wong, Uland ; Morris, Aaron ; Lea, Colin ; Lee, James ; Whittaker, Chuck ; Garney, Ben ; Whittaker, Red
Author_Institution :
Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA
fYear :
2011
fDate :
25-30 Sept. 2011
Firstpage :
3816
Lastpage :
3823
Abstract :
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.
Keywords :
Accuracy; Cameras; Laser radar; Measurement; Robot sensing systems; Sensor phenomena and characterization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
ISSN :
2153-0858
Print_ISBN :
978-1-61284-454-1
Type :
conf
DOI :
10.1109/IROS.2011.6094938
Filename :
6094938
Link To Document :
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