GENERAL ENQUIRIES: Tel: + 27 12 841 2911 | Email: callcentre@csir.co.za

Show simple item record

dc.contributor.author Ogunniyi, Samuel O
dc.contributor.author Withey, Daniel J
dc.contributor.author Marais, Stephen T
dc.contributor.author Crafford, Gerhardus J
dc.date.accessioned 2020-09-14T18:43:45Z
dc.date.available 2020-09-14T18:43:45Z
dc.date.issued 2020-01
dc.identifier.citation Ogunniyi, S.O., Withey, D.J., Marais, S.T. & Crafford, G.J. 2020. LiDAR-based 3D mapping and localisation system for Ground Penetrating Radar. In: 2020 International SAUPEC/RobMech/PRASA Conference, Cape Town, South Africa, South Africa, 29-31 Jan 2020 en_US
dc.identifier.isbn 978-1-7281-4162-6
dc.identifier.isbn 978-1-7281-4163-3
dc.identifier.uri https://ieeexplore.ieee.org/document/9041134
dc.identifier.uri https://ieeexplore.ieee.org/xpl/conhome/9033509/proceeding
dc.identifier.uri http://hdl.handle.net/10204/11581
dc.description Presented in: 2020 International SAUPEC/RobMech/PRASA Conference, Cape Town, South Africa, South Africa, 29-31 Jan 2020. Due to copyright restrictions, the attached PDF file contains the abstract of the full-text item. For access to the full-text item, please consult the publisher's website. en_US
dc.description.abstract As mining activities expand into deeper mines in South Africa's geology there are increasing safety concerns for personnel working within these mines. Ground Penetrating Radar can be used to find faults in the rock face; however, current GPR devices do not provide positioning data to identify where in the mine the scanning has occurred. This paper describes a compact, LiDAR-based mapping and localisation system that could be attached to a GPR device to provide localisation information. The system uses a 16-beam, 3D LiDAR device, an inertial measurement unit, and an embedded computer that runs mapping and localisation software using the sensor measurements. The system is capable of communicating with an external computer via WiFi, and can be powered by a battery. The LiDAR system is shown to map and localise itself accurately within a ground truth reference frame. A Vicon motion capture system is used for ground truth pose measurements. In experiments, the system is found to localise itself to within 101 mm of translation error and to less than one degree of rotational error. en_US
dc.language.iso en en_US
dc.publisher IEEE en_US
dc.relation.ispartofseries Workflow;23703
dc.subject Ground Penetrating Radar en_US
dc.subject GPR en_US
dc.subject Iterative closest point en_US
dc.subject ICP en_US
dc.subject LiDAR en_US
dc.subject LiDAR Box en_US
dc.subject Mapping en_US
dc.subject Point Cloud Registration en_US
dc.subject Positioning en_US
dc.subject Vicon en_US
dc.title LiDAR-based 3D mapping and localisation system for Ground Penetrating Radar en_US
dc.type Presentation en_US


Files in this item

This item appears in the following Collection(s)

Show simple item record

Search ResearchSpace


Advanced Search

Browse

My Account