A Surface Adaptive First-Look Inspection Planner for Autonomous Remote Sensing of Open-Pit Mines

• DOI: 10.48550/arxiv.2410.10256
• Publication Date: 2024-10-14
• Authors: Vignesh Kottayam ...; Vidya Sumathy; Christoforos Kane...; George Nikolakopo...
• Keywords: Planner; Open Pit Mining

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 initial approximate operator-defined plan is exploited by online view-planner to predict path that can adapt changes current mine-face morphology caused route mining activities. The proposed leverages instantaneous 3D LiDAR and localization measurements coupled with modelled sensor footprint view-planning satisfying desired viewing photogrammetric conditions. efficacy of has been demonstrated through simulation Feiring-Bruk mine environment hardware-based outdoor experimental trials. video showcasing performance work be found here: https://youtu.be/uWWbDfoBvFc