DSpace
 

Researchspace >
General science, engineering & technology >
General science, engineering & technology >
General science, engineering & technology >

Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/5213

Title: Human detection for underground autonomous mine vehicles using thermal imaging
Authors: Dickens, JS
Green, JJ
Van Wyk, MA
Keywords: Underground autonomous mine vehicles
Thermal imaging
Mine safety
Underground mining
Autonomous robots
Obstacle detection
Human tracking
Robotics
Mine vehicles
Issue Date: Jul-2011
Citation: Dickens, JS, Green, JJ and Van Wyk, MA. 2011. Human detection for underground autonomous mine vehicles using thermal imaging. 26th International Conference on CAD/CAM, Robotics and Factories of the Future (CARs&FOF 2011), Kuala Lumpur, Malaysia, 26-28 July 2011
Series/Report no.: Workflow request;7145
Abstract: Underground mine automation has the potential to increase safety, productivity and allow the mining of lower-grade resources. In a mining environment with both autonomous robots and humans, it is essential that the robots are able to detect and avoid people. Current pedestrian detection systems and the reasons that they are inadequate for mining robots are discussed. A system for human detection in underground mines, using a fusion of three-dimensional (3D) information with thermal imaging, is proposed. The system extracts regions of interest and classifies them as human or background. The scene excluding the pedestrians is assumed to be static and is intended to be used to determine the ego motion of the vehicle. In addition to the thermal camera, a distance sensor will provide depth information and allow the calculation of the vehicle and pedestrian velocities. Various classification methods are compared and it is shown that a neural network provides the best results in terms of speed and accuracy. The results of tests on two 3D sensors indicate that further work is required to determine the effect of the harsh environment on the accuracy of the sensors.
Description: 26th International Conference on CAD/CAM, Robotics and Factories of the Future (CARs&FOF 2011), Kuala Lumpur, Malaysia, 26-28 July 2011
URI: http://hdl.handle.net/10204/5213
Appears in Collections:Mining and geoscience
Infrastructure engineering
General science, engineering & technology

Files in This Item:

File Description SizeFormat
Dickens_2011.pdf1.04 MBAdobe PDFView/Open
View Statistics

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

 

Valid XHTML 1.0! DSpace Software Copyright © 2002-2010  Duraspace - Feedback