Location estimation of autonomous driving robot and 3D tunnel mapping in underground mines using pattern matched LiDAR sequential images

In this study, a machine vision-based pattern matching technique was applied to estimate the location of an autonomous driving robot and perform 3D tunnel mapping in an underground mine environment. The autonomous driving robot continuously detects the wall of the tunnel in the horizontal direction using the light detection and ranging (LiDAR) sensor and performs pattern matching by recognizing the shape of the tunnel wall. The proposed method...