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Conventional methods of underground surveying use theodolites/total stations and 3D laser scanners to obtain information about the underground environment. Current methods of geo-referencing these instruments to a mine reference system include triangulation, trilateration and resection. However, despite technological advancements, surveying procedures have remained slow, laborious and relatively unchanged during the last half-century. Recent innovations in the robotics community have shown that automated mapping of underground mining tunnels can be undertaken using 2D/3D laser scanners. These techniques have the potential to, in turn, improve upon current underground surveying and mapping methods. Automating surveying and mapping using current surveying tools without changing the setting up procedures or removing current constraints, or even changing the type of equipment used, does not change the status quo. The problem of moving from a static, tripod based surveying and mapping system to an unconstrained mobile surveying and mapping system is the subject of this paper. A current challenge for automated mapping is the ability to automatically geo-reference a mobile mapping system to a mine reference system. For a mobile mapping system that uses a horizontally mounted 2D laser scanner to gather data of the underground environment, the challenge of determining its position and orientation within the mine environment is magnified even more. This paper introduces Mobile Automated Scanner Triangulateration (MAST), a technique under development at Queen’s that is designed to geo-reference a mobile mapping system to a mine reference system for the purposes of underground mine surveying. MAST quickly and automatically determines scanner 2D position and orientation (azimuth) in a mine reference frame by using minimal human input.

Automated Laser Scanner 2D Positioning and Orienting by Method of Triangulateration for Underground Mine Surveying