Research on Efficient and Accurate Mapping Method for Mines Based on Mobile Mining Equipment and Solid-State LiDAR
Aiming at the problems of difficult sampling,low mapping efficiency and low accuracy of mining environment data,an efficient mine mapping system is constructed by using remote mobile mining equipment,solid-state LiDAR and inertial sensors as the hardware system,and a solid-state LiDAR point cloud processing method based on voxel grids is proposed to efficiently extract the planar features and segment the ground point cloud.By improving the point plane matching method,the matching efficiency has been increased and more accurate matching results have been obtained.Adding ground point clouds as constraints in sliding window optimization solves the problem of large vertical errors during the drawing process.
万方数据
维普
