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dc.contributor.author Price, M
dc.contributor.author Green, J
dc.contributor.author Dickens, J
dc.date.accessioned 2012-02-08T08:29:07Z
dc.date.available 2012-02-08T08:29:07Z
dc.date.issued 2011-11
dc.identifier.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 en_US
dc.identifier.isbn 978-0-620-51897-0
dc.identifier.uri http://www.robmech.co.za/files/default/proceedings/robm_proceedings_3.pdf
dc.identifier.uri http://hdl.handle.net/10204/5554
dc.description 4th Robotics and Mechatronics Conference, CSIR International Convention Centre, Pretoria, South Africa, 23-15 November 2011 en_US
dc.description.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. en_US
dc.language.iso en en_US
dc.publisher RobMech en_US
dc.relation.ispartofseries Workflow;8040
dc.subject Thermal maps en_US
dc.subject 3-D thermal maps en_US
dc.subject Robotic platforms en_US
dc.subject 3d mapping en_US
dc.subject Mining robotics en_US
dc.subject Thermal scanning en_US
dc.title Creating three-dimensional thermal maps en_US
dc.type Presentation en_US


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