Automatic Three-dimensional Underground Mine Mapping

For several years, our research group has been developing methods for automated modeling of three-dimensional (3D) environments. In September 2002, we were given the opportunity to demonstrate our mapping capability in an underground coal mine. The opportunity arose as a result of the Quecreek mine accident, in which an inaccurate map caused miners to breach an abandoned, water-filled mine, trapping them for several days. Our field test illustrates the feasibility and potential of high-resolution 3D mapping of an underground coal mine using a cart-mounted 3D laser scanner. In this paper we present our experimental setup, the automatic 3D modeling method used, and the results of the field test.