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

CMU Field Robotics Center

ReconnaissanceAutomated Modeling

CMU Field Robotics Center

Multi-Sensor Perception

Super-Resolution Fusion

Detail of rock wall, airflow curtain and roof supports in a mine.

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.

CMU Field Robotics Center

Multispectral Imaging

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1. Near Infrared, 2. Infrared (Thermal), 3. Rectilinear color, 4. Fisheye Color, images in Walker’s Mill cave.

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

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

CMU Field Robotics Center

Calibration and Characterization

Radiometric and Colorimetric

Geometric

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

Digital SLRs Bridge Cameras Near IR/LowLight

Industrial/MV Security/IP

Thermal/IR

CMU Field Robotics Center

Imaging Sensors