Key technology of mine underground mobile positioning based on LiDAR and coded sequence pattern

WANG Zhi^{1, 2}, WU Li-xin^{1, 2}, LI Hui-ying³

(1. College of Resources and Civil Engineering, Northeastern University, Shenyang 110004, China;
2. Academy of Disaster Reduction and Emergency Management,
Ministry of Civil Affairs and Ministry of Education, Beijing Normal University, Beijing 100875, China;
3. College of Computer Science and Technology, Jilin University, Changchun 130012, China)

Abstract:Technologies of underground mobile positioning were proposed based on LiDAR data and coded sequence pattern landmarks for mine shafts and tunnels environment to meet the needs of fast and accurate positioning and navigation of equipments in the mine underground without satellite navigation signals. A coded sequence pattern was employed for automatic matching of 3D scans. The methods of SIFT feature, Otsu segmentation and fast hough transformation were described for the identification, positioning and interpretation of the coded sequence patterns, respectively. The POSIT model was presented for speeding up computation of the translation and rotation parameters of LiDAR point data, so as to achieve automatic 3D mapping of mine shafts and tunnels. The moving positioning experiment was applied to evaluating the accuracy of proposed pose estimation method from LiDAR scans and coded sequence pattern landmarks acquired in an indoor environment. The performance was evaluated using ground truth data of the indoor setting so as to measure derivations with six degrees of freedom.

Key words:LiDAR; coded sequence pattern; mobile positioning; SLAM algorithm; POSIT algorithm