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Mining robotics: Application of computer vision to the automation of a roadheader

Abstract : Automation of mining operations involves the use of sensing, remote monitoring and control systems in order to confront a variety of situations and environmental conditions. The need of profitability of a mine sometimes requires that selective cutting be performed in order to separate rich ore from waste at the cutting stage. Basically, the problems to be solved are those of modelling an uncontrolled, changing mine environment and programming the machine to cut a pattern accordingly. We present in this paper how image segmentation and classification, 3-D scene perception and path planning can cooperate to solve such a complex problem as selective cutting.
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https://hal.laas.fr/hal-01716473
Contributor : Jean-José Orteu Connect in order to contact the contributor
Submitted on : Friday, February 23, 2018 - 4:24:40 PM
Last modification on : Tuesday, November 16, 2021 - 4:24:41 AM
Long-term archiving on: : Friday, May 25, 2018 - 5:04:56 AM

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Michel Devy, Jean-José Orteu, J.L. Fuentes-Cantillana, J.C. Catalina, A. Rodriguez, et al.. Mining robotics: Application of computer vision to the automation of a roadheader. Robotics and Autonomous Systems, Elsevier, 1993, 11 (2), pp.65- 74. ⟨10.1016/0921-8890(93)90010-A⟩. ⟨hal-01716473⟩

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