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