The DOI matches its Crossref record; 17 of the 17 references it cites were found in a registry or an index.
A system for volumetric robotic mapping of abandoned mines
Abstract
This paper describes two robotic systems developed for acquiring accurate volumetric maps of underground mines. One system is based on a cart instrumented by laser range finders, pushed through a mine by people. Another is a remotely controlled mobile robot equipped with laser range finders. To build consistent maps of large mines with many cycles, we describe an algorithm for estimating global correspondences and aligning robot paths. This algorithm enables us to recover consistent maps several hundreds of meters in diameter, without odometric information. We report results obtained in two mines, a research mine in Bruceton, PA, and an abandoned coal mine in Burgettstown, PA.
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Cites
Maximum Likelihood from Incomplete Data Via the EM Algorithm
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A method for registration of 3-D shapes
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Maximum Likelihood from Incomplete Data via the EM Algorithm
Dempster, A. P., Laird, N. M., & Rubin, D. B. (1976) · Cited by 4,517
Bundle Adjustment — A Modern Synthesis
Triggs, B., McLauchlan, P. F., Hartley, R. I., & Fitzgibbon, A. W. (2000) · Lecture Notes in Computer Science · doi:10.1007/3-540-44480-7_21 · Cited by 3,988
Using occupancy grids for mobile robot perception and navigation
Elfes, A. (1989) · Computer · doi:10.1109/2.30720 · Cited by 2,213
Globally Consistent Range Scan Alignment for Environment Mapping
Lu, F., & Milios, E. (1997) · Autonomous Robots · doi:10.1023/a:1008854305733 · Cited by 1,304
Estimating Uncertain Spatial Relationships in Robotics
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Collaborative multi-robot exploration
Burgard, W., Moors, M., Fox, D., Simmons, R., & Thrun, S. (2002) · Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) · doi:10.1109/robot.2000.844100 · Cited by 762
Self-citationEstimating uncertain spatial relationships in robotics
Smith, R., Self, M., & Cheeseman, P. (2005) · Proceedings. 1987 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.1987.1087846 · Cited by 757
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Coordinated multi-robot exploration
Burgard, W., Moors, M., Stachniss, C., & Schneider, F. E. (2005) · IEEE Transactions on Robotics · doi:10.1109/tro.2004.839232 · Cited by 1,177
Self-citationVisual simultaneous localization and mapping: a survey
Fuentes-Pacheco, J., Ruiz-Ascencio, J., & Rendón-Mancha, J. M. (2015) · Artificial Intelligence Review · doi:10.1007/s10462-012-9365-8 · Cited by 883
Bosse, M., Newman, P., Leonard, J., & Teller, S. (2004) · The International Journal of Robotics Research · doi:10.1177/0278364904049393 · Cited by 305
Metadata
- Authors
- Thrun, S., Hahnel, D., Ferguson, D., Montemerlo, M., Triebel, R., Burgard, W., Baker, C., Omohundro, Z., Thayer, S., & Whittaker, W.
- Venue
- 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)
- Publisher
- IEEE
- Published
- 2004-03-30
- Volume
- 3
- Pages
- 4270-4275
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W1580721220
- Cited by
- 253
- References
- 17
- FWCI
- 42.29
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Thrun, S., Hahnel, D., Ferguson, D., Montemerlo, M., Triebel, R., Burgard, W., Baker, C., Omohundro, Z., Thayer, S., & Whittaker, W. (2004). A system for volumetric robotic mapping of abandoned mines. 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422). https://doi.org/10.1109/robot.2003.1242260
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
