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Precision three-dimensional localization system for underground mining vehicles, offering improved productivity and personnel safety

Funding: 2008: $120,000
2009: $110,000
2010: $100,000

Project Member(s): Dissanayake, G., Kodagoda, S., Huang, S.

Funding or Partner Organisation: Australian Research Council (ARC Linkage Projects)
Pempek Systems Pty Ltd

Start year: 2008

Summary: This project aims to develop algorithms and sensor packages for determining the three-dimensional position and orientation of machines operating in underground mines. A variety of sensor technologies, including laser range finders and inertial measurement units, will be investigated, adapted and field-tested in real-world mining situations. A self-contained control system platform, including supporting sensor packages and appropriate algorithms, will be developed to suit the range of accuracy and cost requirements as demanded by industry. The project outcomes will enable machines and vehicles to be positioned and operated accurately within a mine, increasing the productivity and safety of mining operations.'',

Publications:

Zhao, L, Huang, S & Dissanayake, G 2015, 'Linear SFM: A Hierarchical Approach to Solving Structure-from-Motion Problems by Decoupling the Linear and Nonlinear Components', ISPRS Journal of Photogrammetry and Remote Sensing, vol. 141, pp. 275-289.
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Zhao, L, Huang, S, Yan, L & Dissanayake, G 2015, 'A new feature parametrization for monocular SLAM using line features', Robotica, vol. 33, no. 3, pp. 513-536.
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Zhao, L, Huang, S & Dissanayake, G 2013, 'Linear SLAM: A Linear Solution to the Feature-based, Pose Graph and D-SLAM based on Submap Joining MATLAB and C/C++ source code', OpenSLAM.

Zhao, L, Huang, S, Sun, Y & Dissanayake, G 2013, 'ParallaxBA: Bundle Adjustment using Parallax Angle Feature Parametrization C/C++ source code', OpenSLAM.

Ahmad, A, Zhao, L, Huang, S & Dissanayake, G 2012, 'Convergence comparison of least squares based bearing-only SLAM algorithms using different landmark parametrizations', 2012 International Conference on Control, Automation, Robotics & Vision (ICARCV ), International Conference on Control, Automation, Robotics and Vision, IEEE, Guangzhou, China, pp. 1006-1011.
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Himstedt, M, Alempijevic, A, Zhao, L, Huang, S & Boehme, H 2012, 'Towards robust vision-based self-localization of vehicles in dense urban environments', 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Algarve, Portugal, pp. 3152-3157.
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Hu, G, Huang, S, Zhao, L, Alempijevic, A & Dissanayake, G 2012, 'A Robust RGB-D SLAM algorithm', 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Algarve, Portugal, pp. 1174-1179.
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Zhao, L, Huang, S, Yan, L & Dissanayake, G 2011, 'Parallax angle parametrization for monocular SLAM', 2011 IEEE International Conference on Robotics and Automation (ICRA), IEEE International Conference on Robotics and Automation, IEEE, Shanghai, China, pp. 3117-3124.
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Zhao, L, Huang, S, Yan, L, Wang, J, Hu, G & Dissanayake, G 2010, 'Large-Scale Monocular SLAM by Local Bundle Adjustment and Map Joining', 2010 International Conference on Control, Automation, Robotics and Vision (ICARCV), IEEE, Singapore, pp. 431-436.
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Keywords: localisation and mapping, mining, sensor fusion, occupational safety,

FOR Codes: Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics), Coal, Other non-ferrous ores (e.g. copper, zinc), Mining Engineering, Coal Mining and Extraction, Mining and Extraction of Copper Ores, Automotive Engineering