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A Surface Adaptive First-Look Inspection Planner for Autonomous Remote Sensing of Open-Pit Mines
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-4383-7316
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-5709-0591
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-8870-6718
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2024 (English)In: 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), Institute of Electrical and Electronics Engineers Inc. , 2024, p. 280-285Conference paper, Published paper (Refereed)
Abstract [en]

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 show-casing the performance of the proposed work can be found here: https://youtu.be/uWWbDfoBvFc

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 2024. p. 280-285
National Category
Robotics and automation
Research subject
Robotics and Artificial Intelligence
Identifiers
URN: urn:nbn:se:ltu:diva-112345DOI: 10.1109/ROBIO64047.2024.10907551ISI: 001480002600046Scopus ID: 2-s2.0-105001475600OAI: oai:DiVA.org:ltu-112345DiVA, id: diva2:1951613
Conference
2024 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2024), December 10-14, Bangkok, Thailand
Funder
EU, Horizon Europe, 101091462
Note

ISBN for host publication: 979-8-3315-0964-4

Available from: 2025-04-11 Created: 2025-04-11 Last updated: 2025-11-28Bibliographically approved

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Kottayam Viswanathan, VigneshSumathy, VidyaKanellakis, ChristoforosNikolakopoulos, George

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