Map Building and Terrain-Aided Localisation in an Underground Mine
This paper discusses strategies for estimation of the location of a Load-Haul-Dump truck (LHD) in and underground mine. The results reported are based on data obtained from field trials in an underground mine in Queensland. An LHD was fitted with two two-dimensional laser rangefinders, an INS, sensors to measure vehicle speed and the articulation angle and a rotating laser scanner. An algorithm based on an extended Kaiman filter provides a poly-line map of the mine walls. Once the map is built, the iterative closest point (ICP) algorithm is used to obtain an estimate of the location of the LHD using successive scans from the laser rangefinder.