2024/10/14 by Vignesh Kottayam Viswanathan, Viswanathan, Vignesh Kottayam, Vidya Sumathy +5 · 1 citation
Earth and Planetary Sciences · Engineering · #3D Surveying and Cultural Heritage #FOS: Computer and information sciences #Geological Modeling and Analysis #Robotics (cs.RO) #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.2410.10256
openalex publication_date 2024/10/14 · openalex created_date 2024/10/20 · openalex updated_date 2026/07/28
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