3D Global Localization in the Underground Mine Environment Using Mobile LiDAR Mapping and Point Cloud Registration

3D Global Localization in the Underground Mine Environment Using Mobile LiDAR Mapping and Point Cloud Registration

This study proposes a 3D global localization method that implements mobile LiDAR mapping and point cloud registration to recognize the locations of objects in an underground mine. An initial global point cloud map was built for an entire underground mine area using mobile LiDAR; a local LiDAR scan (...

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Bibliographic Details
Main Authors: Baek, J. (Author), Cho, S. (Author), Lee, C. (Author), Park, J. (Author)
Format: Article
Language:English
Published: MDPI 2022
Subjects:
Cloud map
digital twin
Global coordinate systems
global localization
Global localization
Iterative methods
LiDAR
Localization method
Mapping
Optical radar
point cloud registration
Point cloud registration
Point features
Point-clouds
Surface measurement
underground mine
Underground mine
Underground mine environments
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