Accuracy analysis and efficiency evaluation of 3D laser scanning technology based on SLAM in underground mine roadway measurement

Authors

  • Liangmei Jiang
  • Jinhua Luan
  • Yi Dong
  • Yao Ren
  • Yongzhuo Pan
  • Xiangliang Zeng
  • Minghao Wei
  • Shiyuan Long
  • Jigang Yuan
  • Xintao Xiang
  • Xinyuan Ge

DOI:

https://doi.org/10.54097/2zae2736

Keywords:

3D laser scanning technology; point cloud registration; fusion; accuracy analysis.

Abstract

There are problems of time-consuming and labor-intensive, low degree of automation and high safety risk in the traditional underground mine roadway engineering measurement. In this paper, a method based on SLAM 3D laser scanning technology is proposed to measure mine roadways. At the same time, an underground mine was selected to carry out a rapid scanning experimental study. In this study, the method of closed-loop control of measurement error is used to synchronously collect point cloud data and image data. The data are fused based on the error state iterative Kalman filter (ESIKF). In addition, the optimal transformation matrix was calculated by taking the downhole control point as the feature point to minimize the target error, and the accuracy of the point cloud was analyzed by coordinate comparison, and the measurement efficiency was evaluated. The results show that the in-plane error of the point cloud is ±0.041m. The error in elevation is ±0.088m. The error in the profile is 0.035m. These results meet the requirements for the accuracy of the measurement technology. Compared with the traditional measurement method of total stations, the work efficiency is improved by about 3 times. This method has a good application prospect in underground mine roadway measurement.

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Published

30-06-2024

How to Cite

Jiang, L., Luan, J., Dong, Y., Ren, Y., Pan, Y., Zeng, X., Wei, M., Long, S., Yuan, J., Xiang, X., & Ge, X. (2024). Accuracy analysis and efficiency evaluation of 3D laser scanning technology based on SLAM in underground mine roadway measurement. Highlights in Science, Engineering and Technology, 105, 82-90. https://doi.org/10.54097/2zae2736