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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2410.10256 |
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| _version_ | 1866916437799469056 |
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| author | Viswanathan, Vignesh Kottayam Sumathy, Vidya Kanellakis, Christoforos Nikolakopoulos, George |
| author_facet | Viswanathan, Vignesh Kottayam Sumathy, Vidya Kanellakis, Christoforos Nikolakopoulos, George |
| contents | In this work, we present an autonomous inspection framework for remote sensing tasks in active open-pit mines. Specifically, the contributions are focused towards developing a methodology where an initial approximate operator-defined inspection plan is exploited by an online view-planner to predict an inspection path that can adapt to changes in the current mine-face morphology caused by route mining activities. The proposed inspection framework leverages instantaneous 3D LiDAR and localization measurements coupled with modelled sensor footprint for view-planning satisfying desired viewing and photogrammetric conditions. The efficacy of the proposed framework has been demonstrated through simulation in Feiring-Bruk open-pit mine environment and hardware-based outdoor experimental trials. The video showcasing the performance of the proposed work can be found here: https://youtu.be/uWWbDfoBvFc |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_10256 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Surface Adaptive First-Look Inspection Planner for Autonomous Remote Sensing of Open-Pit Mines Viswanathan, Vignesh Kottayam Sumathy, Vidya Kanellakis, Christoforos Nikolakopoulos, George Robotics In this work, we present an autonomous inspection framework for remote sensing tasks in active open-pit mines. Specifically, the contributions are focused towards developing a methodology where an initial approximate operator-defined inspection plan is exploited by an online view-planner to predict an inspection path that can adapt to changes in the current mine-face morphology caused by route mining activities. The proposed inspection framework leverages instantaneous 3D LiDAR and localization measurements coupled with modelled sensor footprint for view-planning satisfying desired viewing and photogrammetric conditions. The efficacy of the proposed framework has been demonstrated through simulation in Feiring-Bruk open-pit mine environment and hardware-based outdoor experimental trials. The video showcasing the performance of the proposed work can be found here: https://youtu.be/uWWbDfoBvFc |
| title | A Surface Adaptive First-Look Inspection Planner for Autonomous Remote Sensing of Open-Pit Mines |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.10256 |