subterranean sensing research overview 1. cmu field robotics center ultra-high density autonomous...
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Subterranean SensingResearch Overview
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CMU Field Robotics Center
Ultra-high density autonomous underground survey with FMCW Lidar on CaveCrawler robot
ReconnaissanceAutomated Modeling
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CMU Field Robotics Center
ReconnaissanceAutomated Modeling
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CMU Field Robotics Center
Multi-Sensor Perception
Super-Resolution Fusion
Detail of rock wall, airflow curtain and roof supports in a mine.
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CMU Field Robotics Center
Visualization and Virtualization
(Left) Point Rendering techniques produce solid appearance from dense point measurements using GPU acceleration. Scene of a mine corridor, 4 million points.
(Bottom) Non-Photorealistic Rendering with exaggerated reflectance models enhances viewer understanding of scene geometry. Mine wall and ceiling detail, 300k polygons.
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CMU Field Robotics Center
Multispectral Imaging
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3 4
1. Near Infrared, 2. Infrared (Thermal), 3. Rectilinear color, 4. Fisheye Color, images in Walker’s Mill cave.
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CMU Field Robotics Center
Imaging in Darkness
(Left) Long range borehole panoramic imager with intelligent illumination(Right) Structured Light geometry scanner projecting a beam pattern
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CMU Field Robotics Center
Imaging in Darkness
Panorama stitching from multiple views
Fusion of multiple exposures for optimal clarity
warp
align
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blend
Fisheye projection of potash mine panorama
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CMU Field Robotics Center
Calibration and Characterization
Radiometric and Colorimetric
Geometric
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Stereo VisionPhase Shift Lidar
Flash Lidar
MMW Radar
Structured Light
Long Range Time of Flight Lidar
Short RangeTime-of-Flight Lidar
Range Sensors
CMU Field Robotics Center
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Digital SLRs Bridge Cameras Near IR/LowLight
Industrial/MV Security/IP
Thermal/IR
CMU Field Robotics Center
Imaging Sensors