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Please use this identifier to cite or link to this item: http://hdl.handle.net/10204/5554

Title: Creating three-dimensional thermal maps
Authors: Price, M
Green, J
Dickens, J
Keywords: Thermal maps
3-D thermal maps
Robotic platforms
3d mapping
Mining robotics
Thermal scanning
Issue Date: Nov-2011
Publisher: RobMech
Citation: Price, M, Green, J and Dickens, J. Creating three-dimensional thermal maps. 4th Robotics and Mechatronics Conference, CSIR International Convention Centre, Pretoria, South Africa, 23-15 November 2011
Series/Report no.: Workflow;8040
Abstract: A method for generating 3D maps of mines with thermal imaging texture from a robotic platform is presented. The objective is to use these models to generate risk maps that can be used to assess mine safety. Analysis will take place offline, but the data collection platform will be autonomous. Our registration method is based on aligning 3D descriptors that are extracted from range images and uses ICP for refinement. The descriptors encode the distribution of radial distances in the vicinity of keypoints, and enable alignment of non-sequential scans that are visibly different. Thermal texture is added to the registered point cloud using a once-off calibration between the 3D and thermal cameras. Two alternate visualisation schemes are discussed, and results are shown for a real mine stope.
Description: 4th Robotics and Mechatronics Conference, CSIR International Convention Centre, Pretoria, South Africa, 23-15 November 2011
URI: http://www.robmech.co.za/files/default/proceedings/robm_proceedings_3.pdf
http://hdl.handle.net/10204/5554
ISBN: 978-0-620-51897-0
Appears in Collections:Mining and geoscience
Sensor science and technology
General science, engineering & technology

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